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00024 #ifndef __FIREVISION_MODELS_MIRRORMODEL_H_
00025 #define __FIREVISION_MODELS_MIRRORMODEL_H_
00026
00027 #include <utils/math/types.h>
00028
00029 namespace firevision {
00030 #if 0
00031 }
00032 #endif
00033
00034 class MirrorModel
00035 {
00036 public:
00037
00038 virtual ~MirrorModel();
00039
00040 virtual void warp2unwarp(unsigned int warp_x, unsigned int warp_y,
00041 unsigned int *unwarp_x, unsigned int *unwarp_y) = 0;
00042
00043 virtual void unwarp2warp(unsigned int unwarp_x, unsigned int unwarp_y,
00044 unsigned int *warp_x, unsigned int *warp_y) = 0;
00045
00046 virtual const char * getName() = 0;
00047
00048
00049 virtual fawkes::polar_coord_2d_t getWorldPointRelative(unsigned int image_x,
00050 unsigned int image_y) const = 0;
00051
00052 virtual fawkes::cart_coord_2d_t getWorldPointGlobal(unsigned int image_x,
00053 unsigned int image_y,
00054 float pose_x, float pose_y,
00055 float pose_ori) const = 0;
00056
00057 virtual void reset() = 0;
00058
00059 virtual fawkes::point_t getCenter() const = 0;
00060 virtual void setCenter(unsigned int image_x, unsigned int image_y ) = 0;
00061 virtual void setOrientation(float angle) = 0;
00062 virtual float getOrientation() const = 0;
00063
00064 virtual bool isValidPoint(unsigned int image_x, unsigned int image_y ) const = 0;
00065
00066 };
00067
00068 }
00069
00070 #endif