Fawkes API
Fawkes Development Version
|
00001 00002 /*************************************************************************** 00003 * relativepositionmodel.h - Abstract class defining a position model for 00004 * calculation of relative position 00005 * 00006 * Created: Tue May 31 13:50:12 2005 00007 * Copyright 2005-2006 Tim Niemueller [www.niemueller.de] 00008 * 00009 ****************************************************************************/ 00010 00011 /* This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation; either version 2 of the License, or 00014 * (at your option) any later version. A runtime exception applies to 00015 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00016 * 00017 * This program is distributed in the hope that it will be useful, 00018 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00019 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00020 * GNU Library General Public License for more details. 00021 * 00022 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00023 */ 00024 00025 #ifndef __FIREVISION_RELATIVEPOSITIONMODEL_H_ 00026 #define __FIREVISION_RELATIVEPOSITIONMODEL_H_ 00027 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 RelativePositionModel 00036 { 00037 00038 public: 00039 virtual ~RelativePositionModel(); 00040 00041 virtual const char * get_name(void) const = 0; 00042 virtual void set_radius(float r) = 0; 00043 virtual void set_center(float x, float y) = 0; 00044 virtual void set_center(const center_in_roi_t& c) = 0; 00045 00046 virtual void set_pan_tilt(float pan, float tilt) = 0; 00047 virtual void get_pan_tilt(float *pan, float *tilt) const = 0; 00048 00049 virtual void set_cam_rotation(float pan, float tilt, float roll = 0.f); 00050 virtual void get_cam_rotation(float &pan, float &tilt, float &roll) const; 00051 00052 virtual void set_cam_translation(float height, float rel_x = 0.f, float rel_y = 0.f); 00053 virtual void get_cam_translation(float &height, float &rel_x, float &rel_y) const; 00054 00055 virtual void calc() = 0; 00056 virtual void calc_unfiltered() = 0; 00057 00058 virtual void reset() = 0; 00059 00060 virtual float get_distance() const = 0; 00061 virtual float get_bearing() const = 0; 00062 virtual float get_slope() const = 0; 00063 virtual float get_x() const = 0; 00064 virtual float get_y() const = 0; 00065 00066 virtual bool is_pos_valid() const = 0; 00067 00068 }; 00069 00070 } // end namespace firevision 00071 00072 #endif