Fawkes API  Fawkes Development Version
omni_global.h
1 
2 /***************************************************************************
3  * omni_global.h - Global position model that operating on a MirrorModel
4  *
5  * Created: Thu Mar 23 22:30:28 2006
6  * Copyright 2006-2008 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #ifndef __FIREVISION_MODELS_GLOBAL_POSITION_OMNI_GLOBAL_H_
25 #define __FIREVISION_MODELS_GLOBAL_POSITION_OMNI_GLOBAL_H_
26 
27 #include <fvmodels/global_position/globalpositionmodel.h>
28 
29 namespace firevision {
30 #if 0 /* just to make Emacs auto-indent happy */
31 }
32 #endif
33 
34 class MirrorModel;
35 
37 {
38  public:
39  // constructor
40  OmniGlobal(MirrorModel *mirror_model);
41 
42  virtual void set_robot_position(float x, float y, float ori);
43  virtual void set_position_in_image(unsigned int x, unsigned int y);
44 
45  virtual float get_x() const;
46  virtual float get_y() const;
47 
48  virtual void calc();
49 
50  virtual bool is_pos_valid() const;
51 
52 private:
53  float pose_x;
54  float pose_y;
55  float pose_ori;
56 
57  float ball_x;
58  float ball_y;
59 
60  MirrorModel *mirror_model;
61 
62  unsigned int image_x;
63  unsigned int image_y;
64 
65 };
66 
67 } // end namespace firevision
68 
69 #endif
Omni vision global position model.
Definition: omni_global.h:36
virtual float get_x() const
Get global x coordinate of object.
Definition: omni_global.cpp:73
virtual void set_position_in_image(unsigned int x, unsigned int y)
Set the position of the object as recognized in the image.
Definition: omni_global.cpp:49
virtual bool is_pos_valid() const
Check if the position is valid.
Definition: omni_global.cpp:97
virtual float get_y() const
Get global y coordinate of object.
Definition: omni_global.cpp:66
virtual void set_robot_position(float x, float y, float ori)
Set the global position of the object.
Definition: omni_global.cpp:57
Mirror model interface.
Definition: mirrormodel.h:34
OmniGlobal(MirrorModel *mirror_model)
Constructor.
Definition: omni_global.cpp:40
Global Position Model Interface.
virtual void calc()
Calculate position.
Definition: omni_global.cpp:80