Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * omni_global.h - Global position model that operating on a MirrorModel 00004 * 00005 * Created: Thu Mar 23 22:30:28 2006 00006 * Copyright 2006-2008 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_GLOBAL_POSITION_OMNI_GLOBAL_H_ 00025 #define __FIREVISION_MODELS_GLOBAL_POSITION_OMNI_GLOBAL_H_ 00026 00027 #include <fvmodels/global_position/globalpositionmodel.h> 00028 00029 namespace firevision { 00030 #if 0 /* just to make Emacs auto-indent happy */ 00031 } 00032 #endif 00033 00034 class MirrorModel; 00035 00036 class OmniGlobal : public GlobalPositionModel 00037 { 00038 public: 00039 // constructor 00040 OmniGlobal(MirrorModel *mirror_model); 00041 00042 virtual void set_robot_position(float x, float y, float ori); 00043 virtual void set_position_in_image(unsigned int x, unsigned int y); 00044 00045 virtual float get_x() const; 00046 virtual float get_y() const; 00047 00048 virtual void calc(); 00049 00050 virtual bool is_pos_valid() const; 00051 00052 private: 00053 float pose_x; 00054 float pose_y; 00055 float pose_ori; 00056 00057 float ball_x; 00058 float ball_y; 00059 00060 MirrorModel *mirror_model; 00061 00062 unsigned int image_x; 00063 unsigned int image_y; 00064 00065 }; 00066 00067 } // end namespace firevision 00068 00069 #endif