Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * mirrormodel.h - Abstract class defining a mirror model 00004 * 00005 * Created: Tue Jul 19 11:55:29 2005 00006 * Copyright 2005-2007 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_MIRRORMODEL_H_ 00025 #define __FIREVISION_MODELS_MIRRORMODEL_H_ 00026 00027 #include <utils/math/types.h> 00028 00029 namespace firevision { 00030 #if 0 /* just to make Emacs auto-indent happy */ 00031 } 00032 #endif 00033 00034 class MirrorModel 00035 { 00036 public: 00037 00038 virtual ~MirrorModel(); 00039 00040 virtual void warp2unwarp(unsigned int warp_x, unsigned int warp_y, 00041 unsigned int *unwarp_x, unsigned int *unwarp_y) = 0; 00042 00043 virtual void unwarp2warp(unsigned int unwarp_x, unsigned int unwarp_y, 00044 unsigned int *warp_x, unsigned int *warp_y) = 0; 00045 00046 virtual const char * getName() = 0; 00047 00048 00049 virtual fawkes::polar_coord_2d_t getWorldPointRelative(unsigned int image_x, 00050 unsigned int image_y) const = 0; 00051 00052 virtual fawkes::cart_coord_2d_t getWorldPointGlobal(unsigned int image_x, 00053 unsigned int image_y, 00054 float pose_x, float pose_y, 00055 float pose_ori) const = 0; 00056 00057 virtual void reset() = 0; 00058 00059 virtual fawkes::point_t getCenter() const = 0; 00060 virtual void setCenter(unsigned int image_x, unsigned int image_y ) = 0; 00061 virtual void setOrientation(float angle) = 0; 00062 virtual float getOrientation() const = 0; 00063 00064 virtual bool isValidPoint(unsigned int image_x, unsigned int image_y ) const = 0; 00065 00066 }; 00067 00068 } // end namespace firevision 00069 00070 #endif