25 #ifndef __FIREVISION_MODELS_RELPOS_BOX_H_
26 #define __FIREVISION_MODELS_RELPOS_BOX_H_
28 #include <fvmodels/relative_position/relativepositionmodel.h>
32 namespace firevision {
40 BoxRelative(
unsigned int image_width,
unsigned int image_height,
42 float camera_offset_x,
float camera_offset_y,
44 float horizontal_angle,
float vertical_angle
47 virtual const char * get_name()
const;
48 virtual void set_center(
float x,
float y);
50 virtual void set_radius(
float r);
52 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f);
53 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
55 virtual void set_horizontal_angle(
float angle_deg);
56 virtual void set_vertical_angle(
float angle_deg);
58 virtual float get_distance()
const;
60 virtual float get_x()
const;
61 virtual float get_y()
const;
63 virtual float get_bearing()
const;
64 virtual float get_slope()
const;
67 virtual void calc_unfiltered();
70 virtual bool is_pos_valid()
const;
73 float DEFAULT_X_VARIANCE;
74 float DEFAULT_Y_VARIANCE;
76 float pan_rad_per_pixel;
77 float tilt_rad_per_pixel;
83 float horizontal_angle;
86 unsigned int image_width;
87 unsigned int image_height;
90 float camera_offset_x;
91 float camera_offset_y;
92 float camera_orientation;
101 float distance_box_motor;
102 float distance_box_cam;
117 #endif // __FIREVISION_MODELS_RELPOS_BOX_H_
Relative Position Model Interface.
Relative (beer) box position model.