Omni vision global position model. More...
#include <>>
Public Member Functions | |
OmniGlobal (MirrorModel *mirror_model) | |
Constructor. | |
virtual void | set_robot_position (float x, float y, float ori) |
Set the global position of the object. | |
virtual void | set_position_in_image (unsigned int x, unsigned int y) |
Set the position of the object as recognized in the image. | |
virtual float | get_x () const |
Get global x coordinate of object. | |
virtual float | get_y () const |
Get global y coordinate of object. | |
virtual void | calc () |
Calculate position. | |
virtual bool | is_pos_valid () const |
Check if the position is valid. |
Omni vision global position model.
Definition at line 36 of file omni_global.h.
firevision::OmniGlobal::OmniGlobal | ( | MirrorModel * | mirror_model | ) |
void firevision::OmniGlobal::calc | ( | ) | [virtual] |
Calculate position.
From the data set via setRobotPosition() or setPositionInImage() calculate the objects global position.
Implements firevision::GlobalPositionModel.
Definition at line 80 of file omni_global.cpp.
References firevision::MirrorModel::getWorldPointGlobal(), firevision::MirrorModel::isValidPoint(), fawkes::cart_coord_2d_t::x, and fawkes::cart_coord_2d_t::y.
float firevision::OmniGlobal::get_x | ( | void | ) | const [virtual] |
Get global x coordinate of object.
Implements firevision::GlobalPositionModel.
Definition at line 73 of file omni_global.cpp.
float firevision::OmniGlobal::get_y | ( | void | ) | const [virtual] |
Get global y coordinate of object.
Implements firevision::GlobalPositionModel.
Definition at line 66 of file omni_global.cpp.
bool firevision::OmniGlobal::is_pos_valid | ( | ) | const [virtual] |
Check if the position is valid.
Implements firevision::GlobalPositionModel.
Definition at line 97 of file omni_global.cpp.
References firevision::MirrorModel::isValidPoint().
void firevision::OmniGlobal::set_position_in_image | ( | unsigned int | x, | |
unsigned int | y | |||
) | [virtual] |
Set the position of the object as recognized in the image.
x | x coordinate in pixels | |
y | y coordinate in pixels |
Implements firevision::GlobalPositionModel.
Definition at line 49 of file omni_global.cpp.
void firevision::OmniGlobal::set_robot_position | ( | float | x, | |
float | y, | |||
float | ori | |||
) | [virtual] |
Set the global position of the object.
x | x coordinate of position | |
y | y coordinate of position | |
ori | orientation of robot |
Implements firevision::GlobalPositionModel.
Definition at line 57 of file omni_global.cpp.