lobot::EMD< input_type > Class Template Reference

A generic Elementary Motion Detector. More...

#include <Robots/LoBot/io/LoEMD.H>

Collaboration diagram for lobot::EMD< input_type >:

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List of all members.

Public Member Functions
	EMD (const input_type &left, const input_type &right, float angle)
Vector	update ()
virtual	~EMD ()
	Destructor.

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Detailed Description

template<typename input_type>
class lobot::EMD< input_type >

A generic Elementary Motion Detector.

This class implements the notion of an Elementary Motion Detector. It takes two inputs (left and right, though they could be a pair of any opposing directions) and performs the Reichardt EMD computation to assess the "amount" of motion in left or right directions (negative amounts mean leftward motion whereas positive amounts indicate rightwards motion). This scalar quantity is vectorized by scaling a direction vector provided to the EMD on its creation.

Like all templates, this one too implies an interface for its type parameters. Specifically, the EMD's input type is required to implement a value() function that returns floating point number indicating the current level of whatever activity it measures.

Definition at line 82 of file LoEMD.H.

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Constructor & Destructor Documentation

template<typename input_type >

lobot::EMD< input_type >::EMD	(	const input_type &	left,
		const input_type &	right,
		float	angle
	)			[inline]

Clients must specify the left and right (up/down, whatever) inputs and also supply a direction vector for the EMD. The direction vector is specified as an angle in degrees.

Definition at line 116 of file LoEMD.H.

template<typename input_type >

lobot::EMD< input_type >::~EMD

(

)

[inline, virtual]

Destructor.

Definition at line 139 of file LoEMD.H.

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Member Function Documentation

template<typename input_type >

Vector lobot::EMD< input_type >::update

(

)

[inline]

This method uses the latest values from the EMD's left and right inputs and computes the vector representing the total motion.

Definition at line 124 of file LoEMD.H.

References abs(), and R.

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The documentation for this class was generated from the following file:

• src/Robots/LoBot/io/LoEMD.H