Relative Position Model Interface. More...
#include <models/relative_position/relativepositionmodel.h>
Public Member Functions | |
virtual | ~RelativePositionModel () |
Destructor. | |
virtual const char * | get_name (void) const =0 |
Get name of relative position model. | |
virtual void | set_radius (float r)=0 |
Set radius of a found circle. | |
virtual void | set_center (float x, float y)=0 |
Set center of a found circle. | |
virtual void | set_center (const center_in_roi_t &c)=0 |
Set center of a found circle. | |
virtual void | set_pan_tilt (float pan, float tilt)=0 |
Set camera pan and tilt. | |
virtual void | get_pan_tilt (float *pan, float *tilt) const =0 |
Get camera pan tilt. | |
virtual void | set_cam_rotation (float pan, float tilt, float roll=0.f) |
Sets the camera orientation. | |
virtual void | get_cam_rotation (float &pan, float &tilt, float &roll) const |
Returns the camera orientation. | |
virtual void | set_cam_translation (float height, float rel_x=0.f, float rel_y=0.f) |
Sets the current translation of the camera. | |
virtual void | get_cam_translation (float &height, float &rel_x, float &rel_y) const |
Returns the current translation of the camera. | |
virtual void | calc ()=0 |
Calculate position data. | |
virtual void | calc_unfiltered ()=0 |
Calculate data unfiltered. | |
virtual void | reset ()=0 |
Reset all data. | |
virtual float | get_distance () const =0 |
Get distance to object. | |
virtual float | get_bearing () const =0 |
Get bearing (horizontal angle) to object. | |
virtual float | get_slope () const =0 |
Get slope (vertical angle) to object. | |
virtual float | get_x () const =0 |
Get relative X coordinate of object. | |
virtual float | get_y () const =0 |
Get relative Y coordinate of object. | |
virtual bool | is_pos_valid () const =0 |
Check if position is valid. |
Relative Position Model Interface.
This interfaces defines a relative position model.
Definition at line 35 of file relativepositionmodel.h.
firevision::RelativePositionModel::~RelativePositionModel | ( | ) | [virtual] |
Destructor.
Definition at line 108 of file relativepositionmodel.cpp.
void firevision::RelativePositionModel::calc | ( | ) | [pure virtual] |
Calculate position data.
Call this method if all relevant data (set(Radius|Center|PanTilt)) has been set, after this valid data can be retrieved via get*
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
void firevision::RelativePositionModel::calc_unfiltered | ( | ) | [pure virtual] |
Calculate data unfiltered.
Same as calc(), but without any filtering (i.e. no Kalman filter).
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
float firevision::RelativePositionModel::get_bearing | ( | void | ) | const [pure virtual] |
Get bearing (horizontal angle) to object.
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
Referenced by firevision::CameraTracker::calc().
void firevision::RelativePositionModel::get_cam_rotation | ( | float & | pan, | |
float & | tilt, | |||
float & | roll | |||
) | const [virtual] |
Returns the camera orientation.
pan | pan value (rad) | |
tilt | tilt value (rad) | |
roll | roll value (rad) |
Reimplemented in firevision::BackProjectionPositionModel.
Definition at line 128 of file relativepositionmodel.cpp.
References get_pan_tilt().
void firevision::RelativePositionModel::get_cam_translation | ( | float & | height, | |
float & | rel_x, | |||
float & | rel_y | |||
) | const [virtual] |
Returns the current translation of the camera.
height | height of the camera [m] | |
rel_x | distance to the center of the robot [m] | |
rel_y | distance to the center of the robot [m] |
Reimplemented in firevision::BackProjectionPositionModel.
Definition at line 150 of file relativepositionmodel.cpp.
float firevision::RelativePositionModel::get_distance | ( | ) | const [pure virtual] |
Get distance to object.
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
Referenced by firevision::VelocityFromRelative::calc(), and firevision::VelocityGlobalFromRelative::calc().
const char * firevision::RelativePositionModel::get_name | ( | void | ) | const [pure virtual] |
Get name of relative position model.
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
void firevision::RelativePositionModel::get_pan_tilt | ( | float * | pan, | |
float * | tilt | |||
) | const [pure virtual] |
Get camera pan tilt.
pan | contains pan value (rad) upon return | |
tilt | contains tilt value (rad) upon return |
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
Referenced by get_cam_rotation().
float firevision::RelativePositionModel::get_slope | ( | ) | const [pure virtual] |
Get slope (vertical angle) to object.
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
Referenced by firevision::CameraTracker::calc().
float firevision::RelativePositionModel::get_x | ( | void | ) | const [pure virtual] |
Get relative X coordinate of object.
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
Referenced by firevision::VelocityFromRelative::calc(), firevision::GlobalFromRelativePos::get_x(), and firevision::GlobalFromRelativePos::get_y().
float firevision::RelativePositionModel::get_y | ( | void | ) | const [pure virtual] |
Get relative Y coordinate of object.
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
Referenced by firevision::VelocityFromRelative::calc(), firevision::GlobalFromRelativePos::get_x(), and firevision::GlobalFromRelativePos::get_y().
bool firevision::RelativePositionModel::is_pos_valid | ( | ) | const [pure virtual] |
Check if position is valid.
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
Referenced by firevision::GlobalFromRelativePos::is_pos_valid().
void firevision::RelativePositionModel::reset | ( | ) | [pure virtual] |
Reset all data.
This must be called if the object is not visible.
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
void firevision::RelativePositionModel::set_cam_rotation | ( | float | pan, | |
float | tilt, | |||
float | roll = 0.f | |||
) | [virtual] |
Sets the camera orientation.
pan | pan value (rad) | |
tilt | tilt value (rad) | |
roll | roll value (rad) |
Reimplemented in firevision::BackProjectionPositionModel.
Definition at line 118 of file relativepositionmodel.cpp.
void firevision::RelativePositionModel::set_cam_translation | ( | float | height, | |
float | rel_x = 0.f , |
|||
float | rel_y = 0.f | |||
) | [virtual] |
Sets the current translation of the camera.
height | height of the camera [m] | |
rel_x | distance to the center of the robot [m] | |
rel_y | distance to the center of the robot [m] |
Reimplemented in firevision::BackProjectionPositionModel.
Definition at line 140 of file relativepositionmodel.cpp.
void firevision::RelativePositionModel::set_center | ( | const center_in_roi_t & | c | ) | [pure virtual] |
Set center of a found circle.
This is especially used for ball position implementations.
c | center |
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
void firevision::RelativePositionModel::set_center | ( | float | x, | |
float | y | |||
) | [pure virtual] |
Set center of a found circle.
This is especially used for ball position implementations.
x | x position in image (pixels) | |
y | y position in image (pixels) |
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
void firevision::RelativePositionModel::set_pan_tilt | ( | float | pan, | |
float | tilt | |||
) | [pure virtual] |
Set camera pan and tilt.
pan | pan value (rad) | |
tilt | tilt value (rad) |
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.
void firevision::RelativePositionModel::set_radius | ( | float | r | ) | [pure virtual] |
Set radius of a found circle.
This is especially used for ball position implementations.
r | radius |
Implemented in firevision::BackProjectionPositionModel, firevision::BallTrigoRelativePos, firevision::BoxRelative, firevision::FrontBallRelativePos, and firevision::OmniRelative.