Fawkes API
Fawkes Development Version
|
00001 00002 /**************************************************************************** 00003 * ball_trigo.h - Ball relpos for pan/tilt camera using basic trigonometry 00004 * 00005 * Created: Mon Mar 23 09:39:26 2009 00006 * Copyright 2009 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __FIREVISION_MODELS_RELATIVE_POSITION_BALL_TRIGO_H_ 00025 #define __FIREVISION_MODELS_RELATIVE_POSITION_BALL_TRIGO_H_ 00026 00027 #include <fvmodels/relative_position/relativepositionmodel.h> 00028 00029 namespace firevision { 00030 #if 0 /* just to make Emacs auto-indent happy */ 00031 } 00032 #endif 00033 00034 class BallTrigoRelativePos : public RelativePositionModel 00035 { 00036 public: 00037 BallTrigoRelativePos(unsigned int image_width, 00038 unsigned int image_height, 00039 float camera_height, 00040 float camera_offset_x, 00041 float camera_offset_y, 00042 float camera_base_pan, 00043 float camera_base_tilt, 00044 float horizontal_angle, 00045 float vertical_angle, 00046 float ball_circumference); 00047 00048 virtual const char * get_name() const; 00049 virtual void set_radius(float r); 00050 virtual void set_center(float x, float y); 00051 virtual void set_center(const center_in_roi_t& c); 00052 00053 virtual void set_pan_tilt(float pan = 0.0f, float tilt = 0.0f); 00054 virtual void get_pan_tilt(float *pan, float *tilt) const; 00055 00056 virtual float get_distance() const; 00057 virtual float get_x() const; 00058 virtual float get_y() const; 00059 virtual float get_bearing() const; 00060 virtual float get_slope() const; 00061 00062 virtual void calc(); 00063 virtual void calc_unfiltered() { calc(); } 00064 virtual void reset(); 00065 00066 virtual bool is_pos_valid() const; 00067 00068 private: 00069 center_in_roi_t __cirt_center; 00070 float __pan; 00071 float __tilt; 00072 00073 float __horizontal_angle; 00074 float __vertical_angle; 00075 float __pan_rad_per_pixel; 00076 float __tilt_rad_per_pixel; 00077 00078 unsigned int __image_width; 00079 unsigned int __image_width_2; // image_width / 2 00080 unsigned int __image_height; 00081 unsigned int __image_height_2; // image_height / 2 00082 00083 float __camera_height; 00084 float __camera_offset_x; 00085 float __camera_offset_y; 00086 float __camera_base_pan; 00087 float __camera_base_tilt; 00088 00089 float __ball_circumference; 00090 float __ball_radius; 00091 float __ball_x; 00092 float __ball_y; 00093 float __bearing; 00094 float __slope; 00095 float __distance; 00096 }; 00097 00098 } // end namespace firevision 00099 00100 #endif