27 #ifndef __FIREVISION_MODELS_RELATIVE_FRONT_BALL_H_ 28 #define __FIREVISION_MODELS_RELATIVE_FRONT_BALL_H_ 30 #include <fvmodels/relative_position/relativepositionmodel.h> 44 float camera_offset_x,
float camera_offset_y,
46 float horizontal_angle,
float vertical_angle,
47 float ball_circumference
50 virtual const char *
get_name()
const;
55 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f);
56 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
62 virtual float get_x()
const;
63 virtual float get_y()
const;
75 float DEFAULT_X_VARIANCE;
76 float DEFAULT_Y_VARIANCE;
78 float m_fPanRadPerPixel;
79 float m_fTiltRadPerPixel;
87 float horizontal_angle;
90 unsigned int image_width;
91 unsigned int image_height;
94 float camera_offset_x;
95 float camera_offset_y;
96 float camera_orientation;
98 float ball_circumference;
105 float distance_ball_motor;
106 float distance_ball_cam;
112 unsigned int avg_x_num;
113 unsigned int avg_y_num;
126 #endif // __FIREVISION_MODELS_RELPOS_BALL_H_ virtual const char * get_name() const
Get name of relative position model.
virtual float get_distance() const
Get distance to object.
virtual float get_bearing() const
Get bearing (horizontal angle) to object.
virtual void get_pan_tilt(float *pan, float *tilt) const
Get camera pan tilt.
virtual float get_slope() const
Get slope (vertical angle) to object.
virtual void set_horizontal_angle(float angle_deg)
Set horizontal viewing angle.
virtual bool is_pos_valid() const
Check if position is valid.
Relative Position Model Interface.
virtual void calc()
Calculate position data.
virtual void calc_unfiltered()
Calculate data unfiltered.
virtual void reset()
Reset all data.
FrontBallRelativePos(unsigned int image_width, unsigned int image_height, float camera_height, float camera_offset_x, float camera_offset_y, float camera_ori, float horizontal_angle, float vertical_angle, float ball_circumference)
Constructor.
virtual void set_center(float x, float y)
Set center of a found circle.
virtual float get_y() const
Get relative Y coordinate of object.
virtual void set_vertical_angle(float angle_deg)
Set vertical viewing angle.
virtual void set_radius(float r)
Set radius of a found circle.
virtual float get_radius() const
Get the ball radius.
Relative ball position model for front vision.
virtual float get_x() const
Get relative X coordinate of object.
virtual void set_pan_tilt(float pan=0.0f, float tilt=0.0f)
Set camera pan and tilt.