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Excalidraw Data
Text Elements
Output from Perceptions
Post Processing
Trajectory Planning output
2x 2D frames frame: (640x640)
Yolo26
ball bounding boxes
Triangulation
Output from Perceptions
Trajectory Planning Output
struct TrackedBall {
double pos_x, pos_y, pos_z; // [m]
double vel_x, vel_y, vel_z; // [m/s]
double accel_x, accel_y, accel_z; // [m/s²]
double radius_mm; // ball [mm]
double confidence;
bool has_prev;
int miss_count;
}
struct TrackedBall {…}
Candidate Filter
*Confidence
- Proximity
Intercept Method (Fit linear kinematic equations)
struct InterceptResult { double intercept_x; // [m] double intercept_z; // [m] double intercept_t; // [s]
double vel_x_in; // [m/s]
double vel_y_in; // [m/s]
double vel_z_in; // [m/s]
double ee_pitch; // [rad]
double ee_yaw; // [rad]
int num_bounces;
bool valid;
};
struct InterceptResult {…}
A* Planner
*EMA target smoothing *Gate replanning for small target deltas *Intercept validation
Output motion plan for robot + serial communication
Embedded Files
2863724c4763df6c22fc3e4d71bb395b4c0cc7e5: