Fawkes API
Fawkes Development Version
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Omni vision global position model. More...
#include <>>
Public Member Functions | |
OmniGlobal (MirrorModel *mirror_model) | |
Constructor. More... | |
virtual void | set_robot_position (float x, float y, float ori) |
Set the global position of the object. More... | |
virtual void | set_position_in_image (unsigned int x, unsigned int y) |
Set the position of the object as recognized in the image. More... | |
virtual float | get_x () const |
Get global x coordinate of object. More... | |
virtual float | get_y () const |
Get global y coordinate of object. More... | |
virtual void | calc () |
Calculate position. More... | |
virtual bool | is_pos_valid () const |
Check if the position is valid. More... | |
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virtual | ~GlobalPositionModel () |
Empty virtual destructor. More... | |
Omni vision global position model.
Definition at line 36 of file omni_global.h.
firevision::OmniGlobal::OmniGlobal | ( | MirrorModel * | mirror_model | ) |
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Calculate position.
From the data set via setRobotPosition() or setPositionInImage() calculate the objects global position.
Implements firevision::GlobalPositionModel.
Definition at line 80 of file omni_global.cpp.
References firevision::MirrorModel::getWorldPointGlobal(), firevision::MirrorModel::isValidPoint(), fawkes::cart_coord_2d_struct::x, and fawkes::cart_coord_2d_struct::y.
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Get global x coordinate of object.
Implements firevision::GlobalPositionModel.
Definition at line 73 of file omni_global.cpp.
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Get global y coordinate of object.
Implements firevision::GlobalPositionModel.
Definition at line 66 of file omni_global.cpp.
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Check if the position is valid.
Implements firevision::GlobalPositionModel.
Definition at line 97 of file omni_global.cpp.
References firevision::MirrorModel::isValidPoint().
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Set the position of the object as recognized in the image.
x | x coordinate in pixels |
y | y coordinate in pixels |
Implements firevision::GlobalPositionModel.
Definition at line 49 of file omni_global.cpp.
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Set the global position of the object.
x | x coordinate of position |
y | y coordinate of position |
ori | orientation of robot |
Implements firevision::GlobalPositionModel.
Definition at line 57 of file omni_global.cpp.