Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * globalpositionmodel.h - Abstract class defining a position model for 00004 * calculation of global position 00005 * 00006 * Created: Tue May 31 13:43:22 2005 00007 * Copyright 2005-2007 Tim Niemueller [www.niemueller.de] 00008 * 00009 ****************************************************************************/ 00010 00011 /* This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation; either version 2 of the License, or 00014 * (at your option) any later version. A runtime exception applies to 00015 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00016 * 00017 * This program is distributed in the hope that it will be useful, 00018 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00019 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00020 * GNU Library General Public License for more details. 00021 * 00022 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00023 */ 00024 00025 #ifndef __FIREVISION_GLOBALPOSITIONMODEL_H_ 00026 #define __FIREVISION_GLOBALPOSITIONMODEL_H_ 00027 00028 namespace firevision { 00029 #if 0 /* just to make Emacs auto-indent happy */ 00030 } 00031 #endif 00032 00033 class GlobalPositionModel 00034 { 00035 00036 public: 00037 virtual ~GlobalPositionModel(); 00038 00039 virtual void set_robot_position(float x, float y, float ori) = 0; 00040 virtual void set_position_in_image(unsigned int x, unsigned int y) = 0; 00041 00042 virtual float get_x() const = 0; 00043 virtual float get_y() const = 0; 00044 00045 virtual void calc() = 0; 00046 00047 virtual bool is_pos_valid() const = 0; 00048 00049 }; 00050 00051 } // end namespace firevision 00052 00053 #endif 00054