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ball_trigo.h
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/****************************************************************************
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* ball_trigo.h - Ball relpos for pan/tilt camera using basic trigonometry
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*
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* Created: Mon Mar 23 09:39:26 2009
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* Copyright 2009 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#ifndef __FIREVISION_MODELS_RELATIVE_POSITION_BALL_TRIGO_H_
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#define __FIREVISION_MODELS_RELATIVE_POSITION_BALL_TRIGO_H_
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#include <fvmodels/relative_position/relativepositionmodel.h>
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namespace
firevision {
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#if 0
/* just to make Emacs auto-indent happy */
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}
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#endif
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class
BallTrigoRelativePos
:
public
RelativePositionModel
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{
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public
:
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BallTrigoRelativePos
(
unsigned
int
image_width,
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unsigned
int
image_height,
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float
camera_height,
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float
camera_offset_x,
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float
camera_offset_y,
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float
camera_base_pan,
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float
camera_base_tilt,
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float
horizontal_angle,
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float
vertical_angle,
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float
ball_circumference);
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virtual
const
char
* get_name()
const
;
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virtual
void
set_radius(
float
r);
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virtual
void
set_center(
float
x,
float
y);
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virtual
void
set_center(
const
center_in_roi_t
& c);
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virtual
void
set_pan_tilt(
float
pan = 0.0f,
float
tilt = 0.0f);
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virtual
void
get_pan_tilt(
float
*pan,
float
*tilt)
const
;
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virtual
float
get_distance()
const
;
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virtual
float
get_x()
const
;
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virtual
float
get_y()
const
;
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virtual
float
get_bearing()
const
;
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virtual
float
get_slope()
const
;
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virtual
void
calc();
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virtual
void
calc_unfiltered
() { calc(); }
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virtual
void
reset();
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virtual
bool
is_pos_valid()
const
;
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private
:
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center_in_roi_t
__cirt_center;
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float
__pan;
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float
__tilt;
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float
__horizontal_angle;
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float
__vertical_angle;
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float
__pan_rad_per_pixel;
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float
__tilt_rad_per_pixel;
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unsigned
int
__image_width;
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unsigned
int
__image_width_2;
// image_width / 2
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unsigned
int
__image_height;
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unsigned
int
__image_height_2;
// image_height / 2
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float
__camera_height;
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float
__camera_offset_x;
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float
__camera_offset_y;
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float
__camera_base_pan;
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float
__camera_base_tilt;
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float
__ball_circumference;
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float
__ball_radius;
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float
__ball_x;
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float
__ball_y;
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float
__bearing;
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float
__slope;
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float
__distance;
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};
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}
// end namespace firevision
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#endif
src
libs
fvmodels
relative_position
ball_trigo.h
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