24 #ifndef __FIREVISION_MODELS_VELOCITY_GLOBAL_H_
25 #define __FIREVISION_MODELS_VELOCITY_GLOBAL_H_
27 #include <fvmodels/velocity/velocitymodel.h>
28 #include <fvmodels/global_position/globalpositionmodel.h>
35 namespace firevision {
46 virtual const char * getName()
const;
48 virtual void setRobotPosition(
float x,
float y,
float ori, timeval t);
49 virtual void setRobotVelocity(
float vel_x,
float vel_y, timeval t);
50 virtual void setPanTilt(
float pan,
float tilt);
51 virtual void setTime(timeval t);
52 virtual void setTimeNow();
53 virtual void getTime(
long int *sec,
long int *usec);
55 virtual void getVelocity(
float *vel_x,
float *vel_y);
57 virtual float getVelocityX();
58 virtual float getVelocityY();
63 virtual coordsys_type_t getCoordinateSystem();
74 std::vector<timeval> last_time;
76 unsigned int history_length;
77 unsigned int calc_interval;
85 std::vector<float> last_x;
86 std::vector<float> last_y;
94 float velocity_total_x;
95 float velocity_total_y;