25 #ifndef __FIREVISION_MODELS_VELOCITY_GLOBALFROMRELATIVE_H_ 26 #define __FIREVISION_MODELS_VELOCITY_GLOBALFROMRELATIVE_H_ 28 #include <fvmodels/velocity/velocitymodel.h> 29 #include <fvmodels/velocity/relvelo.h> 30 #include <fvmodels/relative_position/relativepositionmodel.h> 45 virtual const char * getName()
const;
46 virtual coordsys_type_t getCoordinateSystem();
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();
81 unsigned int avg_vx_num;
82 unsigned int avg_vy_num;
Velocity model interface.
Relative Position Model Interface.
Global velocity from relative velocities.