Fawkes API
Fawkes Development Version
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#include <>>
Public Member Functions | |
OmniRelative (MirrorModel *mirror_model) | |
Constructor. More... | |
virtual const char * | get_name () const |
virtual void | set_radius (float r) |
virtual void | set_center (float x, float y) |
virtual void | set_center (const center_in_roi_t &c) |
virtual void | set_pan_tilt (float pan=0.0f, float tilt=0.0f) |
virtual void | get_pan_tilt (float *pan, float *tilt) const |
virtual float | get_distance () const |
virtual float | get_x () const |
virtual float | get_y () const |
virtual float | get_bearing () const |
virtual float | get_slope () const |
virtual float | get_radius () const |
Get radius. More... | |
virtual void | calc () |
virtual void | calc_unfiltered () |
virtual void | reset () |
virtual bool | is_pos_valid () const |
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virtual | ~RelativePositionModel () |
Destructor. More... | |
virtual void | set_cam_rotation (float pan, float tilt, float roll=0.f) |
Sets the camera orientation. More... | |
virtual void | get_cam_rotation (float &pan, float &tilt, float &roll) const |
Returns the camera orientation. More... | |
virtual void | set_cam_translation (float height, float rel_x=0.f, float rel_y=0.f) |
Sets the current translation of the camera. More... | |
virtual void | get_cam_translation (float &height, float &rel_x, float &rel_y) const |
Returns the current translation of the camera. More... | |
Omni vision relative position model.
Definition at line 44 of file omni_relative.h.
firevision::OmniRelative::OmniRelative | ( | MirrorModel * | mirror_model | ) |
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Calculate position data. Call this method if all relevant data (set(Radius|Center|PanTilt)) has been set, after this valid data can be retrieved via get*
Implements firevision::RelativePositionModel.
Definition at line 155 of file omni_relative.cpp.
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Calculate data unfiltered. Same as calc(), but without any filtering (i.e. no Kalman filter).
Implements firevision::RelativePositionModel.
Definition at line 180 of file omni_relative.cpp.
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Get bearing (horizontal angle) to object.
Implements firevision::RelativePositionModel.
Definition at line 82 of file omni_relative.cpp.
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Get distance to object.
Implements firevision::RelativePositionModel.
Definition at line 76 of file omni_relative.cpp.
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Get name of relative position model.
Implements firevision::RelativePositionModel.
Definition at line 142 of file omni_relative.cpp.
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Get camera pan tilt.
pan | contains pan value (rad) upon return |
tilt | contains tilt value (rad) upon return |
Implements firevision::RelativePositionModel.
Definition at line 137 of file omni_relative.cpp.
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Get slope (vertical angle) to object.
Implements firevision::RelativePositionModel.
Definition at line 88 of file omni_relative.cpp.
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Get relative X coordinate of object.
Implements firevision::RelativePositionModel.
Definition at line 100 of file omni_relative.cpp.
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Get relative Y coordinate of object.
Implements firevision::RelativePositionModel.
Definition at line 94 of file omni_relative.cpp.
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Check if position is valid.
Implements firevision::RelativePositionModel.
Definition at line 174 of file omni_relative.cpp.
References firevision::MirrorModel::getWorldPointRelative(), and fawkes::polar_coord_2d_t::r.
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Reset all data. This must be called if the object is not visible.
Implements firevision::RelativePositionModel.
Definition at line 148 of file omni_relative.cpp.
References firevision::MirrorModel::getWorldPointRelative(), and firevision::MirrorModel::isValidPoint().
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Set center of a found circle. This is especially used for ball position implementations.
c | center |
Implements firevision::RelativePositionModel.
Definition at line 113 of file omni_relative.cpp.
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Set center of a found circle. This is especially used for ball position implementations.
x | x position in image (pixels) |
y | y position in image (pixels) |
Implements firevision::RelativePositionModel.
Definition at line 106 of file omni_relative.cpp.
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Set camera pan and tilt.
pan | pan value (rad) |
tilt | tilt value (rad) |
Implements firevision::RelativePositionModel.
Definition at line 132 of file omni_relative.cpp.
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Set radius of a found circle. This is especially used for ball position implementations.
r | radius |
Implements firevision::RelativePositionModel.
Definition at line 118 of file omni_relative.cpp.