OmniGlobal Class Reference

Omni vision global position model. More...

#include <models/global_position/omni_global.h>

Inheritance diagram for OmniGlobal:

Inheritance graph
[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.

Detailed Description

Omni vision global position model.

Definition at line 31 of file omni_global.h.

Constructor & Destructor Documentation

OmniGlobal::OmniGlobal ( MirrorModel *  mirror_model  ) 

Constructor.

Parameters:
mirror_model mirror model

Definition at line 35 of file omni_global.cpp.

Member Function Documentation

void OmniGlobal::calc (  )  [virtual]

Calculate position.

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

Implements GlobalPositionModel.

Definition at line 75 of file omni_global.cpp.

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

float OmniGlobal::get_x ( void   )  const [virtual]

Get global x coordinate of object.

Returns:
x coordinate of object

Implements GlobalPositionModel.

Definition at line 68 of file omni_global.cpp.

float OmniGlobal::get_y ( void   )  const [virtual]

Get global y coordinate of object.

Returns:
y coordinate of object

Implements GlobalPositionModel.

Definition at line 61 of file omni_global.cpp.

bool 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 GlobalPositionModel.

Definition at line 92 of file omni_global.cpp.

References MirrorModel::isValidPoint().

void 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 GlobalPositionModel.

Definition at line 44 of file omni_global.cpp.

void 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 GlobalPositionModel.

Definition at line 52 of file omni_global.cpp.

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