27 #ifndef __FIREVISION_MODELS_RELATIVE_FRONT_BALL_H_
28 #define __FIREVISION_MODELS_RELATIVE_FRONT_BALL_H_
30 #include <fvmodels/relative_position/relativepositionmodel.h>
44 float camera_offset_x,
float camera_offset_y,
46 float horizontal_angle,
float vertical_angle,
47 float ball_circumference
50 virtual const char * get_name()
const;
51 virtual void set_radius(
float r);
52 virtual void set_center(
float x,
float y);
55 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f);
56 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
58 virtual void set_horizontal_angle(
float angle_deg);
59 virtual void set_vertical_angle(
float angle_deg);
61 virtual float get_distance()
const;
62 virtual float get_x()
const;
63 virtual float get_y()
const;
64 virtual float get_bearing()
const;
65 virtual float get_slope()
const;
66 virtual float get_radius()
const;
69 virtual void calc_unfiltered();
72 virtual bool is_pos_valid()
const;
75 float DEFAULT_X_VARIANCE;
76 float DEFAULT_Y_VARIANCE;
78 float m_fPanRadPerPixel;
79 float m_fTiltRadPerPixel;
87 float horizontal_angle;
90 unsigned int image_width;
91 unsigned int image_height;
94 float camera_offset_x;
95 float camera_offset_y;
96 float camera_orientation;
98 float ball_circumference;
107 float distance_ball_motor;
108 float distance_ball_cam;
114 unsigned int avg_x_num;
115 unsigned int avg_y_num;
130 #endif // __FIREVISION_MODELS_RELPOS_BALL_H_
Relative Position Model Interface.
Relative ball position model for front vision.