24 #ifndef __FIREVISION_VELOCITYMODEL_H_ 25 #define __FIREVISION_VELOCITYMODEL_H_ 28 #include <fvutils/base/types.h> 41 virtual const char *
getName()
const = 0;
43 virtual void setPanTilt(
float pan,
float tilt) = 0;
46 virtual void setTime(timeval t) = 0;
48 virtual void getTime(
long int *sec,
long int *usec) = 0;
54 virtual void getVelocity(
float *vel_x,
float *vel_y) = 0;
64 virtual void calc() = 0;
69 virtual void reset() = 0;
virtual coordsys_type_t getCoordinateSystem()=0
Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD.
virtual void calc()=0
Calculate velocity values from given data This method must be called after all relevent data (set*) h...
virtual void getTime(long int *sec, long int *usec)=0
Get time from velocity.
virtual void getVelocity(float *vel_x, float *vel_y)=0
Method to retrieve velocity information.
Velocity model interface.
virtual float getVelocityY()=0
Get velocity of tracked object in X direction.
virtual void setTimeNow()=0
Get current time from system.
virtual void setPanTilt(float pan, float tilt)=0
Set pan and tilt.
virtual void reset()=0
Reset velocity model Must be called if ball is not visible at any time.
virtual void setRobotPosition(float x, float y, float ori, timeval t)=0
Set robot position.
virtual void setRobotVelocity(float vel_x, float vel_y, timeval t)=0
Set robot velocity.
virtual const char * getName() const =0
Get name of velocity model.
virtual ~VelocityModel()
Virtual empty destructor.
virtual void setTime(timeval t)=0
Set current time.
virtual float getVelocityX()=0
Get velocity of tracked object in X direction.