omni_global.h

00001 
00002 /***************************************************************************
00003  *  omni_global.h - Global position model that operating on a MirrorModel
00004  *
00005  *  Created: Thu Mar 23 22:30:28 2006
00006  *  Copyright  2006-2008  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023 
00024 #ifndef __FIREVISION_MODELS_GLOBAL_POSITION_OMNI_GLOBAL_H_
00025 #define __FIREVISION_MODELS_GLOBAL_POSITION_OMNI_GLOBAL_H_
00026 
00027 #include <models/global_position/globalpositionmodel.h>
00028 
00029 namespace firevision {
00030 #if 0 /* just to make Emacs auto-indent happy */
00031 }
00032 #endif
00033 
00034 class MirrorModel;
00035 
00036 class OmniGlobal : public GlobalPositionModel
00037 {
00038  public:
00039   // constructor
00040   OmniGlobal(MirrorModel *mirror_model);
00041 
00042   virtual void          set_robot_position(float x, float y, float ori);
00043   virtual void          set_position_in_image(unsigned int x, unsigned int y);
00044 
00045   virtual float         get_x() const;
00046   virtual float         get_y() const;
00047 
00048   virtual void          calc();
00049 
00050   virtual bool          is_pos_valid() const;
00051 
00052 private:
00053   float                 pose_x;
00054   float                 pose_y;
00055   float                 pose_ori;
00056 
00057   float                 ball_x;
00058   float                 ball_y;
00059 
00060   MirrorModel          *mirror_model;
00061 
00062   unsigned int          image_x;
00063   unsigned int          image_y;
00064 
00065 };
00066 
00067 } // end namespace firevision
00068 
00069 #endif

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