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> 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;
94 unsigned int max_history_length;
95 unsigned int calc_interval;
108 float last_proj_error_x;
109 float last_proj_error_y;
110 float proj_time_diff_sec;
120 unsigned int avg_vx_num;
121 unsigned int avg_vy_num;
Calculate velocity from relative positions.
Velocity model interface.
Relative Position Model Interface.