00001
00002 /***************************************************************************
00003  *  relativepositionmodel.cpp - Abstract class defining a position model for
00004  *                            calculation of relative position
00005  *
00006  *  Generated: Wed Mar 21 15:54:42 2007
00007  *  Copyright  2005-2007  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 #include <models/relative_position/relativepositionmodel.h>
00026 
00027 /** @class RelativePositionModel <models/relative_position/relativepositionmodel.h>
00028  * Relative Position Model Interface.
00029  * This interfaces defines a relative position model.
00030  *
00031  * @fn const char * RelativePositionModel::get_name() const
00032  * Get name of relative position model.
00033  * @return name of relative position model
00034  *
00035  * @fn void RelativePositionModel::set_radius(float r)
00036  * Set radius of a found circle.
00037  * This is especially used for ball position implementations.
00038  * @param r radius
00039  *
00040  * @fn void RelativePositionModel::set_center(float x, float y)
00041  * Set center of a found circle.
00042  * This is especially used for ball position implementations.
00043  * @param x x position in image (pixels)
00044  * @param y y position in image (pixels)
00045  *
00046  * @fn void RelativePositionModel::set_center(const center_in_roi_t& c)
00047  * Set center of a found circle.
00048  * This is especially used for ball position implementations.
00049  * @param c center
00050  *
00051  * @fn void RelativePositionModel::set_pan_tilt(float pan, float tilt)
00052  * Set camera pan and tilt.
00053  * @param pan pan value (rad)
00054  * @param tilt tilt value (rad)
00055  *
00056  * @fn void RelativePositionModel::get_pan_tilt(float *pan, float *tilt) const
00057  * Get camera pan tilt.
00058  * @param pan contains pan value (rad) upon return
00059  * @param tilt contains tilt value (rad) upon return
00060  *
00061  * @fn void RelativePositionModel::calc()
00062  * Calculate position data.
00063  * Call this method if all relevant data (set(Radius|Center|PanTilt))
00064  * has been set, after this valid data can be retrieved via get*
00065  *
00066  * @fn void RelativePositionModel::calc_unfiltered()
00067  * Calculate data unfiltered.
00068  * Same as calc(), but without any filtering (i.e. no Kalman filter).
00069  *
00070  * @fn void RelativePositionModel::reset()
00071  * Reset all data.
00072  * This must be called if the object is not visible.
00073  *
00074  * @fn float RelativePositionModel::get_distance() const
00075  * Get distance to object.
00076  * @return distance to object in meters.
00077  *
00078  * @fn float RelativePositionModel::get_bearing() const
00079  * Get bearing (horizontal angle) to object.
00080  * @return bearing in rad
00081  *
00082  * @fn float RelativePositionModel::get_slope() const
00083  * Get slope (vertical angle) to object.
00084  * @return slope in rad
00085  *
00086  * @fn float RelativePositionModel::get_x() const
00087  * Get relative X coordinate of object.
00088  * @return relative X coordinate in local metric cartesian coordinate system
00089  *
00090  * @fn float RelativePositionModel::get_y() const
00091  * Get relative Y coordinate of object.
00092  * @return relative Y coordinate in local metric cartesian coordinate system
00093  *
00094  * @fn bool RelativePositionModel::is_pos_valid() const
00095  * Check if position is valid.
00096  * @return true, if the calculated position is valid, false otherwise
00097  *
00098  * @author Tim Niemueller
00099  */
00100
00101 
00102 /** Destructor. */
00103 RelativePositionModel::~RelativePositionModel()
00104 {
00105 }
00106 
00107 /** Sets the camera orientation
00108  * @param pan pan value (rad)
00109  * @param tilt tilt value (rad)
00110  * @param roll roll value (rad)
00111  */
00112 void
00113 RelativePositionModel::set_cam_rotation(float pan, float tilt, float roll)
00114 {
00115 }
00116 
00117 /** Returns the camera orientation
00118  * @param pan pan value (rad)
00119  * @param tilt tilt value (rad)
00120  * @param roll roll value (rad)
00121  */
00122 void
00123 RelativePositionModel::get_cam_rotation(float &pan, float &tilt, float &roll) const
00124 {
00125   roll = 0;
00126   get_pan_tilt(&pan, &tilt);
00127 }
00128 
00129 /** Sets the current translation of the camera
00130  * @param height height of the camera [m]
00131  * @param rel_x distance to the center of the robot [m]
00132  * @param rel_y distance to the center of the robot [m]
00133  */
00134 void
00135 RelativePositionModel::set_cam_translation(float height, float rel_x, float rel_y)
00136 {
00137 }
00138 
00139 /** Returns the current translation of the camera
00140  * @param height height of the camera [m]
00141  * @param rel_x distance to the center of the robot [m]
00142  * @param rel_y distance to the center of the robot [m]
00143  */
00144 void
00145 RelativePositionModel::get_cam_translation(float &height, float &rel_x, float &rel_y) const
00146 {
00147 }