globfromrel.h

00001 
00002 /***************************************************************************
00003  *  relvelo.h - A simple velocity model using the relative coordinates and
00004  *              robot velocity
00005  *
00006  *  Created: Tue Oct 04 15:49:23 2005
00007  *  Copyright  2005  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 #ifndef __FIREVISION_MODELS_VELOCITY_GLOBALFROMRELATIVE_H_
00026 #define __FIREVISION_MODELS_VELOCITY_GLOBALFROMRELATIVE_H_
00027 
00028 #include <models/velocity/velocitymodel.h>
00029 #include <models/velocity/relvelo.h>
00030 #include <models/relative_position/relativepositionmodel.h>
00031 
00032 // include <utils/kalman_filter/ckalman_filter_2dim.h>
00033 
00034 namespace firevision {
00035 #if 0 /* just to make Emacs auto-indent happy */
00036 }
00037 #endif
00038 
00039 class VelocityGlobalFromRelative : public VelocityModel
00040 {
00041  public:
00042   VelocityGlobalFromRelative(VelocityModel* rel_velo_model, RelativePositionModel *rel_pos_model);
00043   virtual ~VelocityGlobalFromRelative();
00044 
00045   virtual const char * getName() const;
00046   virtual coordsys_type_t getCoordinateSystem();
00047 
00048   virtual void  setRobotPosition(float x, float y, float ori, timeval t);
00049   virtual void  setRobotVelocity(float vel_x, float vel_y, timeval t);
00050   virtual void  setPanTilt(float pan, float tilt);
00051   virtual void  setTime(timeval t);
00052   virtual void  setTimeNow();
00053   virtual void  getTime(long int *sec, long int *usec);
00054 
00055   virtual void  getVelocity(float *vel_x, float *vel_y);
00056 
00057   virtual float getVelocityX();
00058   virtual float getVelocityY();
00059 
00060   virtual void  calc();
00061   virtual void  reset();
00062 
00063  private:
00064   VelocityModel         *relative_velocity;
00065   RelativePositionModel *relative_position;
00066 
00067   float                  robot_ori;
00068   float                  robot_poseage;
00069 
00070   float                  rel_vel_x;
00071   float                  rel_vel_y;
00072   float                  rel_dist;
00073   float                  cos_ori;
00074   float                  sin_ori;
00075 
00076   float                  velocity_x;
00077   float                  velocity_y;
00078 
00079   float                  avg_vx_sum;
00080   float                  avg_vy_sum;
00081   float                  avg_vx;
00082   float                  avg_vy;
00083   unsigned int           avg_vx_num;
00084   unsigned int           avg_vy_num;
00085   float                  rx;
00086   float                  ry;
00087   float                  age_factor;
00088 
00089   /*
00090   kalmanFilter2Dim      *kalman_filter;
00091 
00092   void                  applyKalmanFilter();
00093   */
00094 };
00095 
00096 } // end namespace firevision
00097 
00098 #endif

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