27 #ifndef __FIREVISION_MODELS_RELATIVE_POSITION_OMNI_RELATIVE_H_
28 #define __FIREVISION_MODELS_RELATIVE_POSITION_OMNI_RELATIVE_H_
30 #include <fvmodels/relative_position/relativepositionmodel.h>
31 #include <fvmodels/mirror/mirrormodel.h>
46 virtual const char * get_name()
const;
47 virtual void set_radius(
float r);
48 virtual void set_center(
float x,
float y);
51 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f);
52 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
54 virtual float get_distance()
const;
55 virtual float get_x()
const;
56 virtual float get_y()
const;
57 virtual float get_bearing()
const;
58 virtual float get_slope()
const;
59 virtual float get_radius()
const;
62 virtual void calc_unfiltered();
65 virtual bool is_pos_valid()
const;
68 float DEFAULT_X_VARIANCE;
69 float DEFAULT_Y_VARIANCE;
73 unsigned int image_width;
74 unsigned int image_height;
86 float distance_ball_motor;
87 float distance_ball_cam;
93 unsigned int avg_x_num;
94 unsigned int avg_y_num;
Relative Position Model Interface.
Omni vision relative position model.