Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * camera_tracker.h - This header defines a camera tracker 00004 * 00005 * Generated: Thu Jul 14 22:29:25 2005 00006 * Copyright 2005 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __FIREVISION_FVUTILS_CAMERA_TRACKER_H_ 00025 #define __FIREVISION_FVUTILS_CAMERA_TRACKER_H_ 00026 00027 namespace firevision { 00028 #if 0 /* just to make Emacs auto-indent happy */ 00029 } 00030 #endif 00031 00032 class RelativePositionModel; 00033 00034 class CameraTracker { 00035 00036 public: 00037 CameraTracker(RelativePositionModel *relative_position_model, 00038 float camera_height, 00039 float camera_ori_deg ); 00040 00041 ~CameraTracker(); 00042 00043 void calc(); 00044 00045 float get_new_pan(); 00046 float get_new_tilt(); 00047 00048 void set_mode(unsigned int mode); 00049 void set_relative_position_model(RelativePositionModel *rpm); 00050 void set_robot_position(float x, float y, float ori); 00051 void set_world_point(float x, float y); 00052 00053 static const unsigned int MODE_MODEL; 00054 static const unsigned int MODE_WORLD; 00055 00056 private: 00057 00058 RelativePositionModel *rpm; 00059 00060 float camera_height; 00061 float camera_orientation; 00062 00063 float new_pan; 00064 float new_tilt; 00065 00066 float robot_x; 00067 float robot_y; 00068 float robot_ori; 00069 00070 float world_x; 00071 float world_y; 00072 00073 unsigned int mode; 00074 }; 00075 00076 } // end namespace firevision 00077 00078 #endif