Fawkes API  Fawkes Development Version
relativepositionmodel.h
1 
2 /***************************************************************************
3  * relativepositionmodel.h - Abstract class defining a position model for
4  * calculation of relative position
5  *
6  * Created: Tue May 31 13:50:12 2005
7  * Copyright 2005-2006 Tim Niemueller [www.niemueller.de]
8  *
9  ****************************************************************************/
10 
11 /* This program is free software; you can redistribute it and/or modify
12  * it under the terms of the GNU General Public License as published by
13  * the Free Software Foundation; either version 2 of the License, or
14  * (at your option) any later version. A runtime exception applies to
15  * this software (see LICENSE.GPL_WRE file mentioned below for details).
16  *
17  * This program is distributed in the hope that it will be useful,
18  * but WITHOUT ANY WARRANTY; without even the implied warranty of
19  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20  * GNU Library General Public License for more details.
21  *
22  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
23  */
24 
25 #ifndef _FIREVISION_RELATIVEPOSITIONMODEL_H_
26 #define _FIREVISION_RELATIVEPOSITIONMODEL_H_
27 
28 #include <fvutils/base/types.h>
29 
30 namespace firevision {
31 
32 class RelativePositionModel
33 {
34 public:
35  virtual ~RelativePositionModel();
36 
37  virtual const char *get_name(void) const = 0;
38  virtual void set_radius(float r) = 0;
39  virtual void set_center(float x, float y) = 0;
40  virtual void set_center(const center_in_roi_t &c) = 0;
41 
42  virtual void set_pan_tilt(float pan, float tilt) = 0;
43  virtual void get_pan_tilt(float *pan, float *tilt) const = 0;
44 
45  virtual void set_cam_rotation(float pan, float tilt, float roll = 0.f);
46  virtual void get_cam_rotation(float &pan, float &tilt, float &roll) const;
47 
48  virtual void set_cam_translation(float height, float rel_x = 0.f, float rel_y = 0.f);
49  virtual void get_cam_translation(float &height, float &rel_x, float &rel_y) const;
50 
51  virtual void calc() = 0;
52  virtual void calc_unfiltered() = 0;
53 
54  virtual void reset() = 0;
55 
56  virtual float get_distance() const = 0;
57  virtual float get_bearing() const = 0;
58  virtual float get_slope() const = 0;
59  virtual float get_x() const = 0;
60  virtual float get_y() const = 0;
61 
62  virtual bool is_pos_valid() const = 0;
63 };
64 
65 } // end namespace firevision
66 
67 #endif
firevision::RelativePositionModel::calc
virtual void calc()=0
firevision::RelativePositionModel::get_pan_tilt
virtual void get_pan_tilt(float *pan, float *tilt) const =0
firevision::RelativePositionModel::calc_unfiltered
virtual void calc_unfiltered()=0
firevision::RelativePositionModel::~RelativePositionModel
virtual ~RelativePositionModel()
Destructor.
Definition: relativepositionmodel.cpp:111
firevision::RelativePositionModel::get_distance
virtual float get_distance() const =0
firevision::RelativePositionModel::get_cam_translation
virtual void get_cam_translation(float &height, float &rel_x, float &rel_y) const
Returns the current translation of the camera.
Definition: relativepositionmodel.cpp:153
firevision::RelativePositionModel::set_radius
virtual void set_radius(float r)=0
firevision::RelativePositionModel::get_name
virtual const char * get_name(void) const =0
firevision::RelativePositionModel::get_x
virtual float get_x() const =0
firevision::RelativePositionModel::reset
virtual void reset()=0
firevision::RelativePositionModel::get_cam_rotation
virtual void get_cam_rotation(float &pan, float &tilt, float &roll) const
Returns the camera orientation.
Definition: relativepositionmodel.cpp:131
firevision::RelativePositionModel::set_center
virtual void set_center(float x, float y)=0
firevision::RelativePositionModel::set_pan_tilt
virtual void set_pan_tilt(float pan, float tilt)=0
firevision::center_in_roi_t
Center in ROI.
Definition: types.h:44
firevision::RelativePositionModel::get_y
virtual float get_y() const =0
firevision::RelativePositionModel::get_slope
virtual float get_slope() const =0
firevision::RelativePositionModel::set_cam_translation
virtual void set_cam_translation(float height, float rel_x=0.f, float rel_y=0.f)
Sets the current translation of the camera.
Definition: relativepositionmodel.cpp:143
firevision::RelativePositionModel::set_cam_rotation
virtual void set_cam_rotation(float pan, float tilt, float roll=0.f)
Sets the camera orientation.
Definition: relativepositionmodel.cpp:121
firevision::RelativePositionModel::get_bearing
virtual float get_bearing() const =0
firevision::RelativePositionModel::is_pos_valid
virtual bool is_pos_valid() const =0