Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * globfromrel.h - A simple implementation of the global position model for 00004 * a ball 00005 * 00006 * Created: Fri Jun 03 22:56:22 2005 00007 * Copyright 2005 Hu Yuxiao <Yuxiao.Hu@rwth-aachen.de> 00008 * Tim Niemueller [www.niemueller.de] 00009 * 00010 ****************************************************************************/ 00011 00012 /* This program is free software; you can redistribute it and/or modify 00013 * it under the terms of the GNU General Public License as published by 00014 * the Free Software Foundation; either version 2 of the License, or 00015 * (at your option) any later version. A runtime exception applies to 00016 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00017 * 00018 * This program is distributed in the hope that it will be useful, 00019 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00020 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00021 * GNU Library General Public License for more details. 00022 * 00023 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00024 */ 00025 00026 #ifndef __FIREVISION_MODELS_GLOBAL_POSITION_GLOBFROMREL_H_ 00027 #define __FIREVISION_MODELS_GLOBAL_POSITION_GLOBFROMREL_H_ 00028 00029 #include <models/global_position/globalpositionmodel.h> 00030 00031 namespace firevision { 00032 #if 0 /* just to make Emacs auto-indent happy */ 00033 } 00034 #endif 00035 00036 class RelativePositionModel; 00037 00038 class GlobalFromRelativePos : public GlobalPositionModel 00039 { 00040 public: 00041 GlobalFromRelativePos(RelativePositionModel* model); 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 virtual float get_x(void) const; 00045 virtual float get_y(void) const; 00046 00047 virtual void calc(); 00048 00049 virtual bool is_pos_valid() const; 00050 00051 private: 00052 RelativePositionModel *m_pRelaModel; 00053 float m_fPosX; 00054 float m_fPosY; 00055 float m_fPhi; 00056 00057 }; 00058 00059 } // end namespace firevision 00060 00061 #endif