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omni_global.h
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/***************************************************************************
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* omni_global.h - Global position model that operating on a MirrorModel
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*
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* Created: Thu Mar 23 22:30:28 2006
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* Copyright 2006-2008 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_GLOBAL_POSITION_OMNI_GLOBAL_H_
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#define __FIREVISION_MODELS_GLOBAL_POSITION_OMNI_GLOBAL_H_
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#include <fvmodels/global_position/globalpositionmodel.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
MirrorModel;
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class
OmniGlobal
:
public
GlobalPositionModel
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{
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public
:
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// constructor
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OmniGlobal
(
MirrorModel
*mirror_model);
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virtual
void
set_robot_position(
float
x,
float
y,
float
ori);
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virtual
void
set_position_in_image(
unsigned
int
x,
unsigned
int
y);
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virtual
float
get_x()
const
;
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virtual
float
get_y()
const
;
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virtual
void
calc();
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virtual
bool
is_pos_valid()
const
;
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private
:
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float
pose_x;
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float
pose_y;
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float
pose_ori;
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float
ball_x;
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float
ball_y;
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MirrorModel
*mirror_model;
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unsigned
int
image_x;
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unsigned
int
image_y;
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};
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}
// end namespace firevision
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#endif
src
libs
fvmodels
global_position
omni_global.h
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