radial.h

00001 
00002 /***************************************************************************
00003  *  radial.h - Scanline model implementation: radial
00004  *
00005  *  Created: Tue Jul 19 12:05:31 2005
00006  *  Copyright  2005  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023 
00024 #ifndef __FIREVISION_SCANLINE_RADIAL_H_
00025 #define __FIREVISION_SCANLINE_RADIAL_H_
00026 
00027 #include <models/scanlines/scanlinemodel.h>
00028 #include <fvutils/base/types.h>
00029 
00030 namespace firevision {
00031 #if 0 /* just to make Emacs auto-indent happy */
00032 }
00033 #endif
00034 
00035 class ScanlineRadial : public ScanlineModel
00036 {
00037 
00038  public:
00039 
00040   ScanlineRadial(unsigned int width, unsigned int height,
00041                  unsigned int center_x, unsigned int center_y,
00042                  unsigned int radius_increment, unsigned int step,
00043                  unsigned int max_radius = 0, unsigned int dead_radius = 0
00044                  );
00045 
00046   fawkes::point_t    operator*();
00047   fawkes::point_t *  operator->();
00048   fawkes::point_t *  operator++();
00049   fawkes::point_t *  operator++(int); 
00050 
00051   bool          finished();
00052   void          reset();
00053   const char *  get_name();
00054   unsigned int  get_margin();
00055 
00056   virtual void  set_robot_pose(float x, float y, float ori) {}
00057   virtual void  set_pan_tilt(float pan, float tilt) {}
00058 
00059   void set_center(unsigned int center_x, unsigned int center_y);
00060   void set_radius(unsigned int dead_radius, unsigned int max_radius);
00061 
00062 
00063  private:
00064 
00065   void simpleBubbleSort(unsigned int array[], unsigned int num_elements);
00066 
00067   unsigned int width;
00068   unsigned int height;
00069   unsigned int center_x;
00070   unsigned int center_y;
00071   unsigned int radius_increment;
00072   unsigned int step;
00073   unsigned int current_radius;
00074   unsigned int max_radius;
00075   unsigned int dead_radius;
00076   bool         auto_max_radius;
00077 
00078   fawkes::point_t coord;
00079   fawkes::point_t tmp_coord;
00080 
00081   unsigned int sector;
00082 
00083   bool done;
00084 
00085   int x;
00086   int y;
00087   int tmp_x;
00088   int tmp_y;
00089 
00090 };
00091 
00092 } // end namespace firevision
00093 
00094 #endif

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