00001 00002 /*************************************************************************** 00003 * types.h - Definition of simple types 00004 * 00005 * Generated: Sun May 08 22:29:34 2005 00006 * Copyright 2005-2006 Tim Niemueller [www.niemueller.de] 00007 * 2005 Martin Heracles 00008 * 00009 ****************************************************************************/ 00010 00011 /* This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation; either version 2 of the License, or 00014 * (at your option) any later version. A runtime exception applies to 00015 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00016 * 00017 * This program is distributed in the hope that it will be useful, 00018 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00019 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00020 * GNU Library General Public License for more details. 00021 * 00022 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00023 */ 00024 00025 #ifndef __FIREVISION_UTILS_TYPE_H_ 00026 #define __FIREVISION_UTILS_TYPE_H_ 00027 00028 #include <utils/math/types.h> 00029 00030 namespace firevision { 00031 #if 0 /* just to make Emacs auto-indent happy */ 00032 } 00033 #endif 00034 00035 /** Center in ROI. 00036 * Must be signed since the center of a ball may be out of the ROI. 00037 */ 00038 typedef struct { 00039 float x; /**< x in pixels */ 00040 float y; /**< y in pixels */ 00041 } center_in_roi_t; 00042 00043 /** Orientations. */ 00044 typedef enum { 00045 ORI_HORIZONTAL = 1, /**< horizontal */ 00046 ORI_VERTICAL, /**< vertical */ 00047 ORI_CROSS, /**< cross */ 00048 ORI_DEG_0, /**< 0 degrees */ 00049 ORI_DEG_45, /**< 45 degrees */ 00050 ORI_DEG_90, /**< 90 degrees */ 00051 ORI_DEG_135, /**< 135 degrees */ 00052 ORI_DEG_180, /**< 180 degrees */ 00053 ORI_DEG_225, /**< 225 degrees */ 00054 ORI_DEG_270, /**< 270 degrees */ 00055 ORI_DEG_315, /**< 315 degrees */ 00056 ORI_DEG_360 /**< 360 degrees */ 00057 } orientation_t; 00058 00059 /** The type "color_t" enumerates all colors that are 00060 of interest in the RoboCup-domain */ 00061 typedef enum { 00062 C_ORANGE = 0, /**< Orange. */ 00063 C_BACKGROUND = 1, /**< Background of whatever color. */ 00064 C_MAGENTA = 2, /**< Magenta */ 00065 C_CYAN = 3, /**< Cyan */ 00066 C_BLUE = 4, /**< Blue */ 00067 C_YELLOW = 5, /**< Yellow */ 00068 C_GREEN = 6, /**< Green */ 00069 C_WHITE = 7, /**< White */ 00070 C_RED = 8, /**< Red */ 00071 C_BLACK = 9, /**< Black */ 00072 C_OTHER = 10 /**< Other */ 00073 } color_t; 00074 00075 00076 /** datatype to determine the type of the used coordinate system 00077 * Not that if the robot is positioned at (X=0,Y=0,Ori=0) the robot and world cartesian 00078 * coordinate systems are the same. This can help to remember the robot coord sys. 00079 */ 00080 typedef enum { 00081 COORDSYS_UNKNOWN = 0, /**< Unknown */ 00082 COORDSYS_ROBOT_CART = 1, /**< robot-centric cartesian coordinate system. From 00083 * robot forward is positive X, backward is negative X, 00084 * right is positive Y, left negative Y */ 00085 COORDSYS_WORLD_CART = 2, /**< World cartesian coordinate system, center is at the 00086 * middle of the field, from center to opponent goal is 00087 * positive X, from center to own goal negative X, from 00088 * own goal to opponent goal right wing is positive Y, 00089 * left wing is negative Y. */ 00090 COORDSYS_ROBOT_POLAR = 3, /**< robot-centric polar coordinate system. Front is zero 00091 * rad. */ 00092 COORDSYS_WORLD_POLAR = 4 /**< world polar coordinate system. Center is zero. 00093 * Center to opponent goal is zero rad. */ 00094 } coordsys_type_t; 00095 00096 } // end namespace firevision 00097 00098 #endif