Fawkes API
Fawkes Development Version
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24 #ifndef _FIREVISION_MODELS_RELATIVE_POSITION_BALL_TRIGO_H_
25 #define _FIREVISION_MODELS_RELATIVE_POSITION_BALL_TRIGO_H_
27 #include <fvmodels/relative_position/relativepositionmodel.h>
29 namespace firevision {
35 unsigned int image_height,
37 float camera_offset_x,
38 float camera_offset_y,
39 float camera_base_pan,
40 float camera_base_tilt,
41 float horizontal_angle,
43 float ball_circumference);
45 virtual const char *
get_name()
const;
50 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f);
51 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
54 virtual float get_x()
const;
55 virtual float get_y()
const;
74 float horizontal_angle_;
75 float vertical_angle_;
76 float pan_rad_per_pixel_;
77 float tilt_rad_per_pixel_;
79 unsigned int image_width_;
80 unsigned int image_width_2_;
81 unsigned int image_height_;
82 unsigned int image_height_2_;
85 float camera_offset_x_;
86 float camera_offset_y_;
87 float camera_base_pan_;
88 float camera_base_tilt_;
90 float ball_circumference_;
virtual float get_distance() const
Get distance to object.
virtual bool is_pos_valid() const
Check if position is valid.
Relative Position Model Interface.
virtual void reset()
Reset all data.
virtual void get_pan_tilt(float *pan, float *tilt) const
Get camera pan tilt.
virtual void calc_unfiltered()
Calculate data unfiltered.
virtual void set_center(float x, float y)
Set center of a found circle.
virtual float get_x() const
Get relative X coordinate of object.
Relative ball position model for pan/tilt camera.
virtual void calc()
Calculate position data.
virtual float get_slope() const
Get slope (vertical angle) to object.
virtual void set_pan_tilt(float pan=0.0f, float tilt=0.0f)
Set camera pan and tilt.
virtual const char * get_name() const
Get name of relative position model.
BallTrigoRelativePos(unsigned int image_width, unsigned int image_height, float camera_height, float camera_offset_x, float camera_offset_y, float camera_base_pan, float camera_base_tilt, float horizontal_angle, float vertical_angle, float ball_circumference)
Constructor.
virtual float get_bearing() const
Get bearing (horizontal angle) to object.
virtual float get_y() const
Get relative Y coordinate of object.
virtual void set_radius(float r)
Set radius of a found circle.