25 #include <fvmodels/global_position/omni_global.h>
26 #include <fvmodels/mirror/mirrormodel.h>
28 namespace firevision {
39 this->mirror_model = mirror_model;
41 ball_x = ball_y = 0.f;
virtual bool isValidPoint(unsigned int image_x, unsigned int image_y) const =0
Check if the given point is valid.
virtual fawkes::cart_coord_2d_t getWorldPointGlobal(unsigned int image_x, unsigned int image_y, float pose_x, float pose_y, float pose_ori) const =0
Get global coordinate based on image coordinates.
virtual void set_position_in_image(unsigned int x, unsigned int y)
Set the position of the object as recognized in the image.
virtual void calc()
Calculate position.
virtual bool is_pos_valid() const
Check if the position is valid.
virtual void set_robot_position(float x, float y, float ori)
Set the global position of the object.
virtual float get_x() const
Get global x coordinate of object.
virtual float get_y() const
Get global y coordinate of object.
OmniGlobal(MirrorModel *mirror_model)
Constructor.
Cartesian coordinates (2D).