Fawkes API
Fawkes Development Version
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27 #ifndef _FIREVISION_MODELS_RELATIVE_FRONT_BALL_H_
28 #define _FIREVISION_MODELS_RELATIVE_FRONT_BALL_H_
30 #include <fvmodels/relative_position/relativepositionmodel.h>
34 namespace firevision {
40 unsigned int image_height,
42 float camera_offset_x,
43 float camera_offset_y,
45 float horizontal_angle,
47 float ball_circumference);
49 virtual const char *
get_name()
const;
54 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f);
55 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
61 virtual float get_x()
const;
62 virtual float get_y()
const;
74 float DEFAULT_X_VARIANCE;
75 float DEFAULT_Y_VARIANCE;
77 float m_fPanRadPerPixel;
78 float m_fTiltRadPerPixel;
86 float horizontal_angle;
89 unsigned int image_width;
90 unsigned int image_height;
93 float camera_offset_x;
94 float camera_offset_y;
95 float camera_orientation;
97 float ball_circumference;
104 float distance_ball_motor;
105 float distance_ball_cam;
111 unsigned int avg_x_num;
112 unsigned int avg_y_num;
125 #endif // FIREVISION_MODELS_RELPOS_BALL_H__
virtual void reset()
Reset all data.
virtual bool is_pos_valid() const
Check if position is valid.
Relative Position Model Interface.
virtual void calc_unfiltered()
Calculate data unfiltered.
virtual void calc()
Calculate position data.
virtual void set_center(float x, float y)
Set center of a found circle.
virtual void set_radius(float r)
Set radius of a found circle.
virtual float get_y() const
Get relative Y coordinate of object.
virtual float get_x() const
Get relative X coordinate of object.
virtual void set_pan_tilt(float pan=0.0f, float tilt=0.0f)
Set camera pan and tilt.
virtual float get_radius() const
Get the ball radius.
virtual void set_vertical_angle(float angle_deg)
Set vertical viewing angle.
virtual const char * get_name() const
Get name of relative position model.
Relative ball position model for front vision.
virtual void get_pan_tilt(float *pan, float *tilt) const
Get camera pan tilt.
virtual float get_bearing() const
Get bearing (horizontal angle) to object.
virtual float get_slope() const
Get slope (vertical angle) to object.
virtual float get_distance() const
Get distance to object.
virtual void set_horizontal_angle(float angle_deg)
Set horizontal viewing angle.
FrontBallRelativePos(unsigned int image_width, unsigned int image_height, float camera_height, float camera_offset_x, float camera_offset_y, float camera_ori, float horizontal_angle, float vertical_angle, float ball_circumference)
Constructor.