00001
00002 /***************************************************************************
00003  *  mirrormodel.h - Abstract class defining a mirror model
00004  *
00005  *  Generated: Tue Jul 19 11:55:29 2005
00006  *  Copyright  2005-2007  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_MODELS_MIRRORMODEL_H_
00025 #define __FIREVISION_MODELS_MIRRORMODEL_H_
00026 
00027 #include <utils/math/types.h>
00028
00029 class MirrorModel
00030 {
00031
00032  public:
00033
00034   virtual ~MirrorModel();
00035
00036   virtual void warp2unwarp(unsigned int warp_x, unsigned int warp_y,
00037                            unsigned int *unwarp_x, unsigned int *unwarp_y)     = 0;
00038
00039   virtual void unwarp2warp(unsigned int unwarp_x, unsigned int unwarp_y,
00040                            unsigned int *warp_x, unsigned int *warp_y)         = 0;
00041
00042   virtual const char * getName()                                               = 0;
00043
00044
00045   virtual fawkes::polar_coord_2d_t getWorldPointRelative(unsigned int image_x,
00046                                                          unsigned int image_y) const = 0;
00047
00048   virtual fawkes::cart_coord_2d_t getWorldPointGlobal(unsigned int image_x,
00049                                                       unsigned int image_y,
00050                                                       float pose_x, float pose_y,
00051                                                       float pose_ori) const    = 0;
00052
00053   virtual void reset()                                                         = 0;
00054
00055   virtual fawkes::point_t getCenter() const                                    = 0;
00056   virtual void setCenter(unsigned int image_x, unsigned int image_y  )         = 0;
00057   virtual void setOrientation(float angle)                                     = 0;
00058   virtual float getOrientation() const                                         = 0;
00059
00060   virtual bool isValidPoint(unsigned int image_x, unsigned int image_y ) const = 0;
00061
00062 };
00063
00064 #endif