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scanlinemodel.h
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/***************************************************************************
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* scanlinemodel.h - Abstract class defining a scanline model
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*
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* Created: Tue May 03 19:50:02 2005
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* Copyright 2005-2007 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version. A runtime exception applies to
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* this software (see LICENSE.GPL_WRE file mentioned below for details).
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
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*/
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#ifndef __FIREVISION_MODELS_SCANLINES_SCANLINEMODEL_H_
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#define __FIREVISION_MODELS_SCANLINES_SCANLINEMODEL_H_
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/* IMPORTANT IMPLEMENTATION NOTE:
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* Do _not_ split this into a .h and .cpp file. This interface is used in fvutils.
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* The only way to allows this circular dependency is to have this as a plain
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* header that does not require any linking. Thus you may not split the file.
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*/
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#include <core/exceptions/software.h>
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#include <fvutils/base/types.h>
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#include <fvutils/base/roi.h>
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#include <string>
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namespace
firevision {
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#if 0
/* just to make Emacs auto-indent happy */
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}
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#endif
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/** @class ScanlineModel <fvmodels/scanlines/scanlinemodel.h>
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* Scanline model interface.
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* This interface defines the API for the scanline model. A scanline model
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* determines a specific set of points in the image that should be used for image
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* evaluation if using all the pixels of an image would take too long.
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* This is one of the major optimizations throughout FireVision to ensure high
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* speed image processing.
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*
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* @author Tim Niemueller
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*/
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class
ScanlineModel
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{
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public
:
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/** Virtual empty destructor. */
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virtual
~ScanlineModel
() {}
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/** Get the current coordinate.
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* @return current point in image that is shall be processed.
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*/
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virtual
fawkes::point_t
operator*() = 0;
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/** Get pointer to current point.
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* @return pointer to current point
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* @see operator*()
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*/
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virtual
fawkes::point_t
* operator->() = 0;
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/** Postfix ++ operator.
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* Advances to the next point and returns the new point.
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* @return pointer to new point
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*/
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virtual
fawkes::point_t
* operator++() = 0;
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/** Prefix ++ operator.
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* Advances to the next point but returns the old point.
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* @return pointer to next point
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*/
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virtual
fawkes::point_t
* operator++(
int
) = 0;
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/** Check if all desired points have been processed.
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* @return true if all pixels that the model defines have been iterated.
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*/
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virtual
bool
finished() = 0;
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/** Reset model.
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* Resets the set of processed points.
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*/
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virtual
void
reset() = 0;
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/** Get name of scanline model.
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* @return name of scanline model.
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*/
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virtual
const
char
* get_name() = 0;
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/** Get margin around points.
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* Models that do not use margins shall return zero.
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* It shall be guaranteed that in this margin
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* region around a point there is no other point that has been or will be
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* returned in a full iteration.
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* @return margin around a point.
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*/
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virtual
unsigned
int
get_margin() = 0;
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/** Set the robot's pose.
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* @param x robot's x coordinate on field in meters
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* @param y robot's y coordinate on field in meters
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* @param ori robot's orientation. Looking towards the opponent goal is zero
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* rad, with positive values pointing to the right, negative to the left.
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*/
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virtual
void
set_robot_pose(
float
x,
float
y,
float
ori) = 0;
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/** Set camera's pan/tilt values.
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* @param pan camera's current pan
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* @param tilt camera's current tilt
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*/
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virtual
void
set_pan_tilt(
float
pan,
float
tilt) = 0;
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/** Set the region-of-interest.
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* If not NULL the scanlines gets only calculated within the ROI
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* @param roi the region where scanlines should be calculated
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*/
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virtual
void
set_roi
(
ROI
* roi = NULL) {
throw
fawkes::NotImplementedException
(
"Setting ROI is not implemented."
); }
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};
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}
// end namespace firevision
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#endif
src
libs
fvmodels
scanlines
scanlinemodel.h
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