Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * velocitymodel.h - Abstract class defining a velocity model 00004 * 00005 * Created: Mon Sep 05 16:59:58 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_VELOCITYMODEL_H_ 00025 #define __FIREVISION_VELOCITYMODEL_H_ 00026 00027 #include <sys/time.h> 00028 #include <fvutils/base/types.h> 00029 00030 namespace firevision { 00031 #if 0 /* just to make Emacs auto-indent happy */ 00032 } 00033 #endif 00034 00035 class VelocityModel 00036 { 00037 00038 public: 00039 virtual ~VelocityModel(); 00040 00041 virtual const char * getName() const = 0; 00042 00043 virtual void setPanTilt(float pan, float tilt) = 0; 00044 virtual void setRobotPosition(float x, float y, float ori, timeval t) = 0; 00045 virtual void setRobotVelocity(float vel_x, float vel_y, timeval t) = 0; 00046 virtual void setTime(timeval t) = 0; 00047 virtual void setTimeNow() = 0; 00048 virtual void getTime(long int *sec, long int *usec) = 0; 00049 00050 /* Method to retrieve velocity information 00051 * @param vel_x If not NULL contains velocity in X direction after call 00052 * @param vel_y If not NULL contains velocity in Y direction after call 00053 */ 00054 virtual void getVelocity(float *vel_x, float *vel_y) = 0; 00055 00056 virtual float getVelocityX() = 0; 00057 virtual float getVelocityY() = 0; 00058 00059 00060 /** Calculate velocity values from given data 00061 * This method must be called after all relevent data (set*) has been 00062 * set. After calc() the velocity values can be retrieved 00063 */ 00064 virtual void calc() = 0; 00065 00066 /** Reset velocity model 00067 * Must be called if ball is not visible at any time 00068 */ 00069 virtual void reset() = 0; 00070 00071 /** Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or 00072 * COORDSYS_ROBOT_WORLD. ROBOT denotes velocities relative to the robot 00073 * (which can be tramsformed to global velocities by: 00074 * glob_vel_x = rel_vel_x * cos( robot_ori ) - rel_vel_y * sin( robot_ori ) 00075 * WORLD denotes velocities in the robot coordinate system 00076 * glob_vel_y = rel_vel_x * sin( robot_ori ) + rel_vel_y * cos( robot_ori ) 00077 * @return coordinate system type 00078 */ 00079 virtual coordsys_type_t getCoordinateSystem() = 0; 00080 00081 }; 00082 00083 } // end namespace firevision 00084 00085 #endif