24 #ifndef __FIREVISION_MODELS_RELATIVE_POSITION_BALL_TRIGO_H_
25 #define __FIREVISION_MODELS_RELATIVE_POSITION_BALL_TRIGO_H_
27 #include <fvmodels/relative_position/relativepositionmodel.h>
38 unsigned int image_height,
40 float camera_offset_x,
41 float camera_offset_y,
42 float camera_base_pan,
43 float camera_base_tilt,
44 float horizontal_angle,
46 float ball_circumference);
48 virtual const char * get_name()
const;
49 virtual void set_radius(
float r);
50 virtual void set_center(
float x,
float y);
53 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f);
54 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
56 virtual float get_distance()
const;
57 virtual float get_x()
const;
58 virtual float get_y()
const;
59 virtual float get_bearing()
const;
60 virtual float get_slope()
const;
66 virtual bool is_pos_valid()
const;
73 float __horizontal_angle;
74 float __vertical_angle;
75 float __pan_rad_per_pixel;
76 float __tilt_rad_per_pixel;
78 unsigned int __image_width;
79 unsigned int __image_width_2;
80 unsigned int __image_height;
81 unsigned int __image_height_2;
83 float __camera_height;
84 float __camera_offset_x;
85 float __camera_offset_y;
86 float __camera_base_pan;
87 float __camera_base_tilt;
89 float __ball_circumference;
virtual void calc_unfiltered()
Calculate data unfiltered.
Relative Position Model Interface.
Relative ball position model for pan/tilt camera.