24 #ifndef __FIREVISION_SCANLINE_BEAMS_H_ 25 #define __FIREVISION_SCANLINE_BEAMS_H_ 27 #include <fvmodels/scanlines/scanlinemodel.h> 28 #include <fvutils/base/types.h> 42 ScanlineBeams(
unsigned int image_width,
unsigned int image_height,
43 unsigned int start_x,
unsigned int start_y,
44 unsigned int stop_y,
unsigned int offset_y,
45 bool distribute_start_x,
46 float angle_from,
float angle_range,
unsigned int num_beams);
67 std::vector<fawkes::upoint_t> beam_current_pos;
68 std::vector<fawkes::upoint_t> beam_end_pos;
74 unsigned int num_beams;
76 unsigned int offset_y;
77 unsigned int image_width;
78 unsigned int image_height;
79 bool distribute_start_x;
84 unsigned int next_beam;
85 unsigned int first_beam;
86 unsigned int last_beam;
virtual void set_robot_pose(float x, float y, float ori)
Set the robot's pose.
Raytraced beams scanline model.
Scanline model interface.
bool finished()
Check if all desired points have been processed.
ScanlineBeams(unsigned int image_width, unsigned int image_height, unsigned int start_x, unsigned int start_y, unsigned int stop_y, unsigned int offset_y, bool distribute_start_x, float angle_from, float angle_range, unsigned int num_beams)
Construtor.
fawkes::upoint_t operator*()
Get the current coordinate.
const char * get_name()
Get name of scanline model.
unsigned int get_margin()
Get margin around points.
fawkes::upoint_t * operator++()
Postfix ++ operator.
virtual void set_pan_tilt(float pan, float tilt)
Set camera's pan/tilt values.
Point with cartesian coordinates as unsigned integers.
fawkes::upoint_t * operator->()
Get pointer to current point.