00001
00002 /***************************************************************************
00003  *  camera_tracker.h - This header defines a camera tracker
00004  *
00005  *  Generated: Thu Jul 14 22:29:25 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_FVUTILS_CAMERA_TRACKER_H_
00025 #define __FIREVISION_FVUTILS_CAMERA_TRACKER_H_
00026 
00027 class RelativePositionModel;
00028
00029 class CameraTracker {
00030
00031  public:
00032   CameraTracker(RelativePositionModel *relative_position_model,
00033                 float camera_height,
00034                 float camera_ori_deg );
00035
00036   ~CameraTracker();
00037
00038   void  calc();
00039
00040   float get_new_pan();
00041   float get_new_tilt();
00042
00043   void  set_mode(unsigned int mode);
00044   void  set_relative_position_model(RelativePositionModel *rpm);
00045   void  set_robot_position(float x, float y, float ori);
00046   void  set_world_point(float x, float y);
00047
00048   static const unsigned int MODE_MODEL;
00049   static const unsigned int MODE_WORLD;
00050
00051  private:
00052
00053   RelativePositionModel *rpm;
00054
00055   float  camera_height;
00056   float  camera_orientation;
00057
00058   float  new_pan;
00059   float  new_tilt;
00060
00061   float  robot_x;
00062   float  robot_y;
00063   float  robot_ori;
00064
00065   float  world_x;
00066   float  world_y;
00067
00068   unsigned int mode;
00069 };
00070
00071
00072 #endif