24 #ifndef _FIREVISION_SCANLINE_BEAMS_H_
25 #define _FIREVISION_SCANLINE_BEAMS_H_
27 #include <fvmodels/scanlines/scanlinemodel.h>
28 #include <fvutils/base/types.h>
32 namespace firevision {
38 unsigned int image_height,
42 unsigned int offset_y,
43 bool distribute_start_x,
46 unsigned int num_beams);
72 std::vector<fawkes::upoint_t> beam_current_pos;
73 std::vector<fawkes::upoint_t> beam_end_pos;
79 unsigned int num_beams;
81 unsigned int offset_y;
82 unsigned int image_width;
83 unsigned int image_height;
84 bool distribute_start_x;
89 unsigned int next_beam;
90 unsigned int first_beam;
91 unsigned int last_beam;
Raytraced beams scanline model.
virtual void set_robot_pose(float x, float y, float ori)
Set the robot's pose.
ScanlineBeams(unsigned int image_width, unsigned int image_height, unsigned int start_x, unsigned int start_y, unsigned int stop_y, unsigned int offset_y, bool distribute_start_x, float angle_from, float angle_range, unsigned int num_beams)
Construtor.
unsigned int get_margin()
Get margin around points.
const char * get_name()
Get name of scanline model.
fawkes::upoint_t * operator->()
Get pointer to current point.
fawkes::upoint_t * operator++()
Postfix ++ operator.
virtual void set_pan_tilt(float pan, float tilt)
Set camera's pan/tilt values.
fawkes::upoint_t operator*()
Get the current coordinate.
bool finished()
Check if all desired points have been processed.
Scanline model interface.
Point with cartesian coordinates as unsigned integers.