25 #ifndef __FIREVISION_MODELS_VELOCITY_RELATIVE_H_
26 #define __FIREVISION_MODELS_VELOCITY_RELATIVE_H_
28 #include <fvmodels/velocity/velocitymodel.h>
29 #include <fvmodels/relative_position/relativepositionmodel.h>
31 #include <fvutils/base/types.h>
36 namespace firevision {
61 virtual const char * getName()
const;
63 virtual void setRobotPosition(
float x,
float y,
float ori, timeval t);
64 virtual void setRobotVelocity(
float vel_x,
float vel_y, timeval t);
65 virtual void setPanTilt(
float pan,
float tilt);
66 virtual void setTime(timeval t);
67 virtual void setTimeNow();
68 virtual void getTime(
long int *sec,
long int *usec);
70 virtual void getVelocity(
float *vel_x,
float *vel_y);
72 virtual float getVelocityX();
73 virtual float getVelocityY();
78 virtual coordsys_type_t getCoordinateSystem();
83 float robot_rel_vel_x;
84 float robot_rel_vel_y;
85 timeval robot_rel_vel_t;
86 timeval vel_last_time;
89 std::list<vel_postime_t *> ball_history;
90 std::list<vel_postime_t *>::iterator bh_it;
97 unsigned int max_history_length;
98 unsigned int calc_interval;
111 float last_proj_error_x;
112 float last_proj_error_y;
113 float proj_time_diff_sec;
125 unsigned int avg_vx_num;
126 unsigned int avg_vy_num;