Fawkes API  Fawkes Development Version
velocitymodel.cpp
00001 
00002 /***************************************************************************
00003  *  velocitymodel.cpp - Abstract class defining a velocity model
00004  *
00005  *  Created: Thu Mar 29 17:02:09 2007
00006  *  Copyright  2005-2007  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 #include <models/velocity/velocitymodel.h>
00025 
00026 namespace firevision {
00027 #if 0 /* just to make Emacs auto-indent happy */
00028 }
00029 #endif
00030 
00031 /** @class VelocityModel <models/velocity/velocitymodel.h>
00032  * Velocity model interface.
00033  *
00034  *
00035  * @fn const char *  VelocityModel::getName() const
00036  * Get name of velocity model
00037  * @return name of velocity model
00038  *
00039  * @fn void     VelocityModel::setPanTilt(float pan, float tilt)
00040  * Set pan and tilt.
00041  * @param pan pan
00042  * @param tilt tilt
00043  *
00044  * @fn void  VelocityModel::setRobotPosition(float x, float y, float ori, timeval t)
00045  * Set robot position.
00046  * @param x x
00047  * @param y y
00048  * @param ori ori
00049  * @param t timestamp of the pose information
00050  *
00051  * @fn void  VelocityModel::setRobotVelocity(float vel_x, float vel_y, timeval t)
00052  * Set robot velocity.
00053  * @param vel_x robot velocity in x direction
00054  * @param vel_y robot velocity in y direction
00055  * @param t timestamp of the velocity information
00056  *
00057  * @fn void  VelocityModel::setTime(timeval t)
00058  * Set current time.
00059  * @param t time
00060  *
00061  * @fn void  VelocityModel::setTimeNow()
00062  * Get current time from system.
00063  *
00064  * @fn void  VelocityModel::getTime(long int *sec, long int *usec)
00065  * Get time from velocity.
00066  * @param sec contains seconds since the epoch upon return (Unix timestamp)
00067  * @param usec contains microseconds upon return
00068  *
00069  * @fn void  VelocityModel::getVelocity(float *vel_x, float *vel_y)
00070  * Method to retrieve velocity information
00071  * @param vel_x If not NULL contains velocity in X direction after call
00072  * @param vel_y If not NULL contains velocity in Y direction after call
00073  *
00074  * @fn float VelocityModel::getVelocityX()
00075  * Get velocity of tracked object in X direction.
00076  * @return velocity in m/s.
00077  *
00078  * @fn float VelocityModel::getVelocityY()
00079  * Get velocity of tracked object in X direction.
00080  * @return velocity in m/s.
00081  *
00082  * @fn void VelocityModel::calc()
00083  * Calculate velocity values from given data
00084  * This method must be called after all relevent data (set*) has been
00085  * set. After calc() the velocity values can be retrieved
00086  *
00087  * @fn void VelocityModel::reset()
00088  * Reset velocity model
00089  * Must be called if ball is not visible at any time
00090  *
00091  * @fn coordsys_type_t VelocityModel::getCoordinateSystem()
00092  * Returns the used coordinate system, must be either COORDSYS_ROBOT_CART or
00093  * COORDSYS_ROBOT_WORLD. ROBOT denotes velocities relative to the robot
00094  * (which can be tramsformed to global velocities by:
00095  * glob_vel_x = rel_vel_x * cos( robot_ori ) - rel_vel_y * sin( robot_ori )
00096  * WORLD denotes velocities in the robot coordinate system
00097  * glob_vel_y = rel_vel_x * sin( robot_ori ) + rel_vel_y * cos( robot_ori )
00098  */
00099 
00100 /** Virtual empty destructor. */
00101 VelocityModel::~VelocityModel()
00102 {
00103 }
00104 
00105 } // end namespace firevision