firevision::OmniGlobal Class Reference

Omni vision global position model. More...

#include <models/global_position/omni_global.h>

Inheritance diagram for firevision::OmniGlobal:

[legend]

List of all members.

Public Member Functions
	OmniGlobal (MirrorModel *mirror_model)
	Constructor.
virtual void	set_robot_position (float x, float y, float ori)
	Set the global position of the object.
virtual void	set_position_in_image (unsigned int x, unsigned int y)
	Set the position of the object as recognized in the image.
virtual float	get_x () const
	Get global x coordinate of object.
virtual float	get_y () const
	Get global y coordinate of object.
virtual void	calc ()
	Calculate position.
virtual bool	is_pos_valid () const
	Check if the position is valid.

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Detailed Description

Omni vision global position model.

Definition at line 36 of file omni_global.h.

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Constructor & Destructor Documentation

firevision::OmniGlobal::OmniGlobal

(

MirrorModel *

mirror_model

)

Constructor.

Parameters:

mirror_model

mirror model

Definition at line 40 of file omni_global.cpp.

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Member Function Documentation

void firevision::OmniGlobal::calc

(

)

[virtual]

Calculate position.

From the data set via setRobotPosition() or setPositionInImage() calculate the objects global position.

Implements firevision::GlobalPositionModel.

Definition at line 80 of file omni_global.cpp.

References firevision::MirrorModel::getWorldPointGlobal(), firevision::MirrorModel::isValidPoint(), fawkes::cart_coord_2d_t::x, and fawkes::cart_coord_2d_t::y.

float firevision::OmniGlobal::get_x

(

void

)

const [virtual]

Get global x coordinate of object.

Returns:

x coordinate of object

Implements firevision::GlobalPositionModel.

Definition at line 73 of file omni_global.cpp.

float firevision::OmniGlobal::get_y

(

void

)

const [virtual]

Get global y coordinate of object.

Returns:

y coordinate of object

Implements firevision::GlobalPositionModel.

Definition at line 66 of file omni_global.cpp.

bool firevision::OmniGlobal::is_pos_valid

(

)

const [virtual]

Check if the position is valid.

Returns:

true, if the calculated position is valid, false otherwise

Author:

Tim Niemueller

Implements firevision::GlobalPositionModel.

Definition at line 97 of file omni_global.cpp.

References firevision::MirrorModel::isValidPoint().

void firevision::OmniGlobal::set_position_in_image	(	unsigned int	x,
		unsigned int	y
	)			[virtual]

Set the position of the object as recognized in the image.

Parameters:

	x	x coordinate in pixels
	y	y coordinate in pixels

Implements firevision::GlobalPositionModel.

Definition at line 49 of file omni_global.cpp.

void firevision::OmniGlobal::set_robot_position	(	float	x,
		float	y,
		float	ori
	)			[virtual]

Set the global position of the object.

Parameters:

	x	x coordinate of position
	y	y coordinate of position
	ori	orientation of robot

Implements firevision::GlobalPositionModel.

Definition at line 57 of file omni_global.cpp.

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The documentation for this class was generated from the following files:

• src/firevision/models/global_position/omni_global.h
• src/firevision/models/global_position/omni_global.cpp