27#ifndef _FIREVISION_MODELS_RELATIVE_POSITION_OMNI_RELATIVE_H_
28#define _FIREVISION_MODELS_RELATIVE_POSITION_OMNI_RELATIVE_H_
30#include <fvmodels/mirror/mirrormodel.h>
31#include <fvmodels/relative_position/relativepositionmodel.h>
43 virtual const char *
get_name()
const;
48 virtual void set_pan_tilt(
float pan = 0.0f,
float tilt = 0.0f);
49 virtual void get_pan_tilt(
float *pan,
float *tilt)
const;
52 virtual float get_x()
const;
53 virtual float get_y()
const;
65 float DEFAULT_X_VARIANCE;
66 float DEFAULT_Y_VARIANCE;
78 float distance_ball_motor;
79 float distance_ball_cam;
85 unsigned int avg_x_num;
86 unsigned int avg_y_num;
Omni vision relative position model.
virtual bool is_pos_valid() const
Check if position is valid.
virtual void set_radius(float r)
Set radius of a found circle.
virtual float get_slope() const
Get slope (vertical angle) to object.
virtual float get_distance() const
Get distance to object.
virtual void set_pan_tilt(float pan=0.0f, float tilt=0.0f)
Set camera pan and tilt.
virtual void reset()
Reset all data.
virtual float get_bearing() const
Get bearing (horizontal angle) to object.
virtual void calc_unfiltered()
Calculate data unfiltered.
virtual void calc()
Calculate position data.
virtual float get_y() const
Get relative Y coordinate of object.
OmniRelative(MirrorModel *mirror_model)
Constructor.
virtual const char * get_name() const
Get name of relative position model.
virtual float get_radius() const
Get radius.
virtual float get_x() const
Get relative X coordinate of object.
virtual void set_center(float x, float y)
Set center of a found circle.
virtual void get_pan_tilt(float *pan, float *tilt) const
Get camera pan tilt.
Relative Position Model Interface.