tracker.h

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 namespace firevision {
00028 #if 0 /* just to make Emacs auto-indent happy */
00029 }
00030 #endif
00031 
00032 class RelativePositionModel;
00033 
00034 class CameraTracker {
00035 
00036  public:
00037   CameraTracker(RelativePositionModel *relative_position_model,
00038                 float camera_height,
00039                 float camera_ori_deg );
00040 
00041   ~CameraTracker();
00042 
00043   void  calc();
00044 
00045   float get_new_pan();
00046   float get_new_tilt();
00047 
00048   void  set_mode(unsigned int mode);
00049   void  set_relative_position_model(RelativePositionModel *rpm);
00050   void  set_robot_position(float x, float y, float ori);
00051   void  set_world_point(float x, float y);
00052 
00053   static const unsigned int MODE_MODEL;
00054   static const unsigned int MODE_WORLD;
00055 
00056  private:
00057 
00058   RelativePositionModel *rpm;
00059 
00060   float  camera_height;
00061   float  camera_orientation;
00062 
00063   float  new_pan;
00064   float  new_tilt;
00065 
00066   float  robot_x;
00067   float  robot_y;
00068   float  robot_ori;
00069 
00070   float  world_x;
00071   float  world_y;
00072 
00073   unsigned int mode;
00074 };
00075 
00076 } // end namespace firevision
00077 
00078 #endif

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