/***************************************************************************
 *   Copyright (C) 2007 by Mauro,,,					   *
 *   mauro.r@ua.pt							   *
 *                                                                         *
 *   PhUA - Projecto Humanóide da Universidade de Aveiro 07/08		   *
 ***************************************************************************/
#ifndef HUMANMOV_H
#define HUMANMOV_H

#include <cv.h>
//-------------------------------------------------------------------------------------
// Inicializa�ao de constantes e variaveis
//-------------------------------------------------------------------------------------
//__ Parametros da PAN&TILT -----------------------------------------------------------
// #ifdef _INV_CEN_CPP_
// int a;
// #else
// extern int a;
// #endif

#define l0 0.470
#define l1 0.015
#define l2 0.026
#define l3 0.057
#define l4 0.04
 
// //-- Sec�ao do tronco (l,w,h): comprimento x largura x altura -------------------------
#define lt_L 0.1940
#define lt_W 0.072
#define lt_H 0.155
#define Lt (l0 + lt_H + l1)


//no chão
//#define l0 0.18
//#define l1 0
//#define l2 0.053
//#define l3 0.039
// #define l4 0.04
// #define lt_L 0.1940
// #define lt_W 0.072
//#define lt_H 0.081
//#define Lt (l0 + lt_H + l1)

//-- Vector comprimentos --------------------------------------------------------------
// L = [l0 l1 l2 l3r a dist l4 lt_L lt_W lt_H];

//__ Outras constantes ---------------------------------------------------------------- 
// #define DIM 24                 //-- Dimens�o do vector tempo de simula�ao (Tsim) ------

//__ Parametros da camara: res. 256x256, dist_focal = 4e-3, pixel_pitch = 30e3 pix/m
//__                                                        => DIM_ccd = 8.5x8.5 mm 
#define dfocal 0.0051
#define pix_pitch 0.030
#define max_Pccd 128/pix_pitch

static int pp = 1;

void scan(signed char val[]);

int RefCoordBallCM_2(signed char val[], double coord[], int Cxp, int Cyp);

#endif