com.kuka.nav.object.filter
Class Restriction

java.lang.Object
  com.kuka.nav.object.filter.Restriction

All Implemented Interfaces:

com.kuka.parameters.IParameter

Direct Known Subclasses:

ContourDistanceRestriction, OrientationRestriction, RectangleRestriction, RegionRestriction

public abstract class Restriction
extends Object
implements com.kuka.parameters.IParameter

This is an abstract base class for all restrictions that serve to reduce the possible detections within a search space.

It also provides static helper functions to create the various specific restrictions.

Constructor Summary

protected

Restriction() Creates a new search space restriction.

Method Summary

static ContourDistanceRestriction	contourDistance() Creates a new restriction that can be limited to detections within a minimum and maximum distance between searcher and detection contour.
static ContourDistanceRestriction	contourDistance(double min, double max) Creates a new restriction that is limited to detections within a minimum and maximum distance between searcher and detection contour.
abstract Restriction	copy()
static OrientationRestriction	orientation(double start, double end) Creates a new restriction that limits the detections to ones whose orientation is within the given range of orientations relative to the searcher.
static RectangleRestriction	rectangle() Creates a new restriction that can limit the search space to detections with a center that is in between a minimum and maximum relative offset.
static RectangleRestriction	rectangle(double minX, double minY, double maxX, double maxY) Creates a new restriction that limits the search space to detections with a centre that is in between a minimum and maximum relative offset.
static RegionRestriction	region(RegionRestriction.Region r) Creates a new restriction that only searches in the given region.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Restriction

protected Restriction()

Creates a new search space restriction.

Method Detail

copy

public abstract Restriction copy()

Specified by:

copy in interface com.kuka.parameters.IParameter

region

public static RegionRestriction region(RegionRestriction.Region r)

Creates a new restriction that only searches in the given region.

Parameters:

r - The region to search.

Returns:

A new region restriction.

contourDistance

public static ContourDistanceRestriction contourDistance()

Creates a new restriction that can be limited to detections within a minimum and maximum distance between searcher and detection contour.

Returns:

A new contour distance restriction.

contourDistance

public static ContourDistanceRestriction contourDistance(double min,
                                                         double max)

Creates a new restriction that is limited to detections within a minimum and maximum distance between searcher and detection contour.

Parameters:

min - The minimum contour distance of detections.

max - The maximum contour distance of detections.

Returns:

A new contour distance restriction.

rectangle

public static RectangleRestriction rectangle()

Creates a new restriction that can limit the search space to detections with a center that is in between a minimum and maximum relative offset.

Returns:

A new rectangle restriction.

rectangle

public static RectangleRestriction rectangle(double minX,
                                             double minY,
                                             double maxX,
                                             double maxY)

Creates a new restriction that limits the search space to detections with a centre that is in between a minimum and maximum relative offset.

Parameters:

minX - The minimum X-offset of detections.

minY - The minimum Y-offset of detections.

maxX - The maximum X-offset of detections.

maxY - The maximum Y-offset of detections.

Returns:

A new rectangle restriction.

orientation

public static OrientationRestriction orientation(double start,
                                                 double end)

Creates a new restriction that limits the detections to ones whose orientation is within the given range of orientations relative to the searcher.

Parameters:

start - The start of the range of angles for detections.

end - The end of the range of angles for detections.

Returns:

A new orientation restriction.