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vision.h
1 
2 /***************************************************************************
3  * vision.h - Vision aspect for Fawkes
4  *
5  * Created: Tue May 29 14:47:03 2007
6  * Copyright 2006-2010 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version. A runtime exception applies to
14  * this software (see LICENSE.GPL_WRE file mentioned below for details).
15  *
16  * This program is distributed in the hope that it will be useful,
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19  * GNU Library General Public License for more details.
20  *
21  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22  */
23 
24 #ifndef __ASPECT_VISION_H_
25 #define __ASPECT_VISION_H_
26 
27 #include <aspect/aspect.h>
28 #include <fvutils/base/vision_master.h>
29 
30 namespace fawkes {
31 #if 0 /* just to make Emacs auto-indent happy */
32 }
33 #endif
34 
35 class VisionAspect : public virtual Aspect
36 {
37  public:
38  /** The operation mode of this vision thread.
39  * @see Thread
40  */
41  typedef enum {
42  CYCLIC, /**< cyclic mode */
43  CONTINUOUS /**< continuous mode */
44  } VisionThreadMode;
45 
46  VisionAspect(VisionThreadMode mode);
47  virtual ~VisionAspect();
48 
49  void init_VisionAspect(firevision::VisionMaster *vision_master);
50  VisionThreadMode vision_thread_mode();
51  protected:
52  /** Vision master */
54  private:
55  VisionThreadMode __vision_thread_mode;
56 };
57 
58 } // end namespace fawkes
59 
60 #endif