Fawkes API
Fawkes Development Version
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25 #ifndef _FIREVISION_MODELS_VELOCITY_GLOBALFROMRELATIVE_H_
26 #define _FIREVISION_MODELS_VELOCITY_GLOBALFROMRELATIVE_H_
28 #include <fvmodels/relative_position/relativepositionmodel.h>
29 #include <fvmodels/velocity/relvelo.h>
30 #include <fvmodels/velocity/velocitymodel.h>
34 namespace firevision {
36 class VelocityGlobalFromRelative :
public VelocityModel
42 virtual const char *
getName()
const;
47 virtual void setPanTilt(
float pan,
float tilt);
48 virtual void setTime(timeval t);
50 virtual void getTime(
long int *sec,
long int *usec);
52 virtual void getVelocity(
float *vel_x,
float *vel_y);
78 unsigned int avg_vx_num;
79 unsigned int avg_vy_num;
virtual void getVelocity(float *vel_x, float *vel_y)
virtual void setTimeNow()
VelocityGlobalFromRelative(VelocityModel *rel_velo_model, RelativePositionModel *rel_pos_model)
Destructor.
virtual ~VelocityGlobalFromRelative()
Destructor.
virtual void reset()
Reset velocity model Must be called if ball is not visible at any time.
virtual float getVelocityY()
virtual void calc()
Calculate velocity values from given data This method must be called after all relevent data (set*) h...
virtual void getTime(long int *sec, long int *usec)
virtual coordsys_type_t getCoordinateSystem()
Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD.
virtual const char * getName() const
virtual void setTime(timeval t)
virtual void setRobotPosition(float x, float y, float ori, timeval t)
virtual void setRobotVelocity(float vel_x, float vel_y, timeval t)
virtual float getVelocityX()
virtual void setPanTilt(float pan, float tilt)