25 #ifndef _FIREVISION_MODELS_VELOCITY_GLOBALFROMRELATIVE_H_
26 #define _FIREVISION_MODELS_VELOCITY_GLOBALFROMRELATIVE_H_
28 #include <fvmodels/relative_position/relativepositionmodel.h>
29 #include <fvmodels/velocity/relvelo.h>
30 #include <fvmodels/velocity/velocitymodel.h>
34 namespace firevision {
42 virtual const char *
getName()
const;
47 virtual void setPanTilt(
float pan,
float tilt);
48 virtual void setTime(timeval t);
50 virtual void getTime(
long int *sec,
long int *usec);
52 virtual void getVelocity(
float *vel_x,
float *vel_y);
78 unsigned int avg_vx_num;
79 unsigned int avg_vy_num;
Relative Position Model Interface.
Global velocity from relative velocities.
virtual void setTime(timeval t)
Set current time.
virtual coordsys_type_t getCoordinateSystem()
Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or COORDSYS_ROBOT_WORLD.
virtual void setPanTilt(float pan, float tilt)
Set pan and tilt.
virtual void getVelocity(float *vel_x, float *vel_y)
Method to retrieve velocity information.
virtual float getVelocityY()
Get velocity of tracked object in X direction.
virtual float getVelocityX()
Get velocity of tracked object in X direction.
virtual const char * getName() const
Get name of velocity model.
virtual void setRobotPosition(float x, float y, float ori, timeval t)
Set robot position.
virtual ~VelocityGlobalFromRelative()
Destructor.
VelocityGlobalFromRelative(VelocityModel *rel_velo_model, RelativePositionModel *rel_pos_model)
Destructor.
virtual void reset()
Reset velocity model Must be called if ball is not visible at any time.
virtual void getTime(long int *sec, long int *usec)
Get time from velocity.
virtual void calc()
Calculate velocity values from given data This method must be called after all relevent data (set*) h...
virtual void setRobotVelocity(float vel_x, float vel_y, timeval t)
Set robot velocity.
virtual void setTimeNow()
Get current time from system.
Velocity model interface.