24 #ifndef __FIREVISION_SCANLINE_BEAMS_H_
25 #define __FIREVISION_SCANLINE_BEAMS_H_
27 #include <fvmodels/scanlines/scanlinemodel.h>
28 #include <fvutils/base/types.h>
42 ScanlineBeams(
unsigned int image_width,
unsigned int image_height,
43 unsigned int start_x,
unsigned int start_y,
44 unsigned int stop_y,
unsigned int offset_y,
45 bool distribute_start_x,
46 float angle_from,
float angle_range,
unsigned int num_beams);
55 const char * get_name();
56 unsigned int get_margin();
67 std::vector<fawkes::point_t> beam_current_pos;
68 std::vector<fawkes::point_t> beam_end_pos;
74 unsigned int num_beams;
76 unsigned int offset_y;
77 unsigned int image_width;
78 unsigned int image_height;
79 bool distribute_start_x;
84 unsigned int next_beam;
85 unsigned int first_beam;
86 unsigned int last_beam;
virtual void set_robot_pose(float x, float y, float ori)
Set the robot's pose.
Raytraced beams scanline model.
Scanline model interface.
Point with cartesian coordinates as unsigned integers.
virtual void set_pan_tilt(float pan, float tilt)
Set camera's pan/tilt values.