globfromrel.h

00001 
00002 /***************************************************************************
00003  *  globfromrel.h - A simple implementation of the global position model for
00004  *                 a ball
00005  *
00006  *  Created: Fri Jun 03 22:56:22 2005
00007  *  Copyright  2005  Hu Yuxiao <Yuxiao.Hu@rwth-aachen.de>
00008  *                   Tim Niemueller [www.niemueller.de]
00009  *
00010  ****************************************************************************/
00011 
00012 /*  This program is free software; you can redistribute it and/or modify
00013  *  it under the terms of the GNU General Public License as published by
00014  *  the Free Software Foundation; either version 2 of the License, or
00015  *  (at your option) any later version. A runtime exception applies to
00016  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00017  *
00018  *  This program is distributed in the hope that it will be useful,
00019  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00020  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00021  *  GNU Library General Public License for more details.
00022  *
00023  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00024  */
00025                                                                                 
00026 #ifndef __FIREVISION_MODELS_GLOBAL_POSITION_GLOBFROMREL_H_
00027 #define __FIREVISION_MODELS_GLOBAL_POSITION_GLOBFROMREL_H_
00028 
00029 #include <models/global_position/globalpositionmodel.h>
00030 
00031 namespace firevision {
00032 #if 0 /* just to make Emacs auto-indent happy */
00033 }
00034 #endif
00035 
00036 class RelativePositionModel;
00037 
00038 class GlobalFromRelativePos : public GlobalPositionModel
00039 {
00040  public:
00041   GlobalFromRelativePos(RelativePositionModel* model);
00042   virtual void  set_robot_position(float x, float y, float ori);
00043   virtual void  set_position_in_image(unsigned int x, unsigned int y);
00044   virtual float get_x(void) const;
00045   virtual float get_y(void) const;
00046 
00047   virtual void  calc();
00048 
00049   virtual bool  is_pos_valid() const;
00050 
00051  private:
00052   RelativePositionModel *m_pRelaModel;
00053   float                  m_fPosX;
00054   float                  m_fPosY;
00055   float                  m_fPhi;
00056 
00057 };
00058 
00059 } // end namespace firevision
00060 
00061 #endif

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