Fawkes API
Fawkes Development Version
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24 #ifndef _FIREVISION_VELOCITYMODEL_H_
25 #define _FIREVISION_VELOCITYMODEL_H_
27 #include <fvutils/base/types.h>
30 namespace firevision {
37 virtual const char *
getName()
const = 0;
39 virtual void setPanTilt(
float pan,
float tilt) = 0;
42 virtual void setTime(timeval t) = 0;
44 virtual void getTime(
long int *sec,
long int *usec) = 0;
50 virtual void getVelocity(
float *vel_x,
float *vel_y) = 0;
59 virtual void calc() = 0;
64 virtual void reset() = 0;
virtual void setTimeNow()=0
virtual void calc()=0
Calculate velocity values from given data This method must be called after all relevent data (set*) h...
virtual void setPanTilt(float pan, float tilt)=0
virtual void setRobotVelocity(float vel_x, float vel_y, timeval t)=0
virtual float getVelocityY()=0
virtual void reset()=0
Reset velocity model Must be called if ball is not visible at any time.
virtual void setRobotPosition(float x, float y, float ori, timeval t)=0
virtual void getVelocity(float *vel_x, float *vel_y)=0
virtual const char * getName() const =0
virtual ~VelocityModel()
Virtual empty destructor.
virtual coordsys_type_t getCoordinateSystem()=0
Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD.
virtual void getTime(long int *sec, long int *usec)=0
virtual float getVelocityX()=0
virtual void setTime(timeval t)=0