Fawkes API Fawkes Development Version
velocitymodel.h
1
2/***************************************************************************
3 * velocitymodel.h - Abstract class defining a velocity model
4 *
5 * Created: Mon Sep 05 16:59:58 2005
6 * Copyright 2005 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version. A runtime exception applies to
14 * this software (see LICENSE.GPL_WRE file mentioned below for details).
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22 */
23
24#ifndef _FIREVISION_VELOCITYMODEL_H_
25#define _FIREVISION_VELOCITYMODEL_H_
26
27#include <fvutils/base/types.h>
28#include <sys/time.h>
29
30namespace firevision {
31
33{
34public:
35 virtual ~VelocityModel();
36
37 virtual const char *getName() const = 0;
38
39 virtual void setPanTilt(float pan, float tilt) = 0;
40 virtual void setRobotPosition(float x, float y, float ori, timeval t) = 0;
41 virtual void setRobotVelocity(float vel_x, float vel_y, timeval t) = 0;
42 virtual void setTime(timeval t) = 0;
43 virtual void setTimeNow() = 0;
44 virtual void getTime(long int *sec, long int *usec) = 0;
45
46 /* Method to retrieve velocity information
47 * @param vel_x If not NULL contains velocity in X direction after call
48 * @param vel_y If not NULL contains velocity in Y direction after call
49 */
50 virtual void getVelocity(float *vel_x, float *vel_y) = 0;
51
52 virtual float getVelocityX() = 0;
53 virtual float getVelocityY() = 0;
54
55 /** Calculate velocity values from given data
56 * This method must be called after all relevent data (set*) has been
57 * set. After calc() the velocity values can be retrieved
58 */
59 virtual void calc() = 0;
60
61 /** Reset velocity model
62 * Must be called if ball is not visible at any time
63 */
64 virtual void reset() = 0;
65
66 /** Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or
67 * COORDSYS_ROBOT_WORLD. ROBOT denotes velocities relative to the robot
68 * (which can be tramsformed to global velocities by:
69 * glob_vel_x = rel_vel_x * cos( robot_ori ) - rel_vel_y * sin( robot_ori )
70 * WORLD denotes velocities in the robot coordinate system
71 * glob_vel_y = rel_vel_x * sin( robot_ori ) + rel_vel_y * cos( robot_ori )
72 * @return coordinate system type
73 */
74 virtual coordsys_type_t getCoordinateSystem() = 0;
75};
76
77} // end namespace firevision
78
79#endif
Velocity model interface.
Definition: velocitymodel.h:33
virtual coordsys_type_t getCoordinateSystem()=0
Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD.
virtual float getVelocityX()=0
Get velocity of tracked object in X direction.
virtual void setPanTilt(float pan, float tilt)=0
Set pan and tilt.
virtual const char * getName() const =0
Get name of velocity model.
virtual ~VelocityModel()
Virtual empty destructor.
virtual void getTime(long int *sec, long int *usec)=0
Get time from velocity.
virtual void setRobotPosition(float x, float y, float ori, timeval t)=0
Set robot position.
virtual void calc()=0
Calculate velocity values from given data This method must be called after all relevent data (set*) h...
virtual void reset()=0
Reset velocity model Must be called if ball is not visible at any time.
virtual void setRobotVelocity(float vel_x, float vel_y, timeval t)=0
Set robot velocity.
virtual void getVelocity(float *vel_x, float *vel_y)=0
Method to retrieve velocity information.
virtual void setTimeNow()=0
Get current time from system.
virtual float getVelocityY()=0
Get velocity of tracked object in X direction.
virtual void setTime(timeval t)=0
Set current time.