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# Representations/Perception/MultipleBallPerceptElement.h

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    00001 /**
    00002  * removed struct and made class out of it to make it streamable
    00003  * @author <a href="mailto:Thorsten.Kerkhof@gmx.de">Thorsten Kerkhof</a>
    00004  */
    00005
    00006 #ifndef __MultipleBallPerceptElement_h_
    00007 #define __MultipleBallPerceptElement_h_
    00008
    00009 #include "Tools/Math/Vector2.h"
    00010 #include "Tools/Streams/Streamable.h"
    00011
    00012
    00013 class MultipleBallPerceptElement : public Streamable
    00014 {
    00015   void serialize(In* in, Out* out)
    00016   {
    00017     STREAM_REGISTER_BEGIN();
    00018     STREAM(offsetOnField);
    00019     STREAM(centerInImage);
    00020     STREAM(radiusInImage);
    00021     STREAM(reliability);
    00022     STREAM(distanceError);
    00023     STREAM_REGISTER_FINISH();
    00024   }
    00025
    00026 public:
    00027   MultipleBallPerceptElement();
    00028
    00029   Vector2<double> offsetOnField;
    00030
    00031   /** The center of the ball in image coordinates */
    00032   Vector2<double> centerInImage;
    00033
    00034   /** The center of the ball in image coordinates */
    00035   double radiusInImage;
    00036
    00037   double reliability;
    00038
    00039   //the error depending on the distance as needed in the GT2005/MSH2005BallLocator
    00040   double distanceError;
    00041
    00042   void calculateDistanceValue(Vector2<double> offset);
    00043 };
    00044
    00045 #endif