Fawkes API  Fawkes Development Version
firevision::OmniGlobal Class Reference

Omni vision global position model. More...

#include <>>

Inheritance diagram for firevision::OmniGlobal:

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...
 
- Public Member Functions inherited from firevision::GlobalPositionModel
virtual ~GlobalPositionModel ()
 Empty virtual destructor. More...
 

Detailed Description

Omni vision global position model.

Definition at line 36 of file omni_global.h.

Constructor & Destructor Documentation

◆ OmniGlobal()

firevision::OmniGlobal::OmniGlobal ( MirrorModel mirror_model)

Constructor.

Parameters
mirror_modelmirror model

Definition at line 40 of file omni_global.cpp.

Member Function Documentation

◆ calc()

void firevision::OmniGlobal::calc ( )
virtual

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.

◆ get_x()

float firevision::OmniGlobal::get_x ( void  ) const
virtual

Get global x coordinate of object.

Returns
x coordinate of object

Implements firevision::GlobalPositionModel.

Definition at line 73 of file omni_global.cpp.

◆ get_y()

float firevision::OmniGlobal::get_y ( void  ) const
virtual

Get global y coordinate of object.

Returns
y coordinate of object

Implements firevision::GlobalPositionModel.

Definition at line 66 of file omni_global.cpp.

◆ is_pos_valid()

bool firevision::OmniGlobal::is_pos_valid ( ) const
virtual

Check if the position is valid.

Returns
true, if the calculated position is valid, false otherwise
Author
Tim Niemueller

Implements firevision::GlobalPositionModel.

Definition at line 97 of file omni_global.cpp.

References firevision::MirrorModel::isValidPoint().

◆ set_position_in_image()

void firevision::OmniGlobal::set_position_in_image ( unsigned int  x,
unsigned int  y 
)
virtual

Set the position of the object as recognized in the image.

Parameters
xx coordinate in pixels
yy coordinate in pixels

Implements firevision::GlobalPositionModel.

Definition at line 49 of file omni_global.cpp.

◆ set_robot_position()

void firevision::OmniGlobal::set_robot_position ( float  x,
float  y,
float  ori 
)
virtual

Set the global position of the object.

Parameters
xx coordinate of position
yy coordinate of position
oriorientation of robot

Implements firevision::GlobalPositionModel.

Definition at line 57 of file omni_global.cpp.


The documentation for this class was generated from the following files: