star.h

00001 
00002 /***************************************************************************
00003  *  star.h - Starlike scanline model
00004  *
00005  *  Created: Mon Nov 05 09:45:06 2007
00006  *  Copyright  2007  Daniel Beck
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_MODELS_SCANLINES_STAR_H_
00025 #define __FIREVISION_MODELS_SCANLINES_STAR_H_
00026 
00027 #include <models/scanlines/scanlinemodel.h>
00028 #include <vector>
00029 #include <map>
00030 
00031 namespace firevision {
00032 #if 0 /* just to make Emacs auto-indent happy */
00033 }
00034 #endif
00035 
00036 class ScanlineStar : public ScanlineModel
00037 {
00038  public:
00039   ScanlineStar(unsigned int image_width, unsigned int image_height,
00040                unsigned int center_x, unsigned int center_y,
00041                unsigned int num_rays, unsigned int radius_incr,
00042                unsigned char* yuv_mask,
00043                unsigned int dead_radius = 0, unsigned int max_radius = 0,
00044                unsigned int margin = 0);
00045 
00046   virtual ~ScanlineStar();
00047     
00048   fawkes::point_t    operator*();
00049   fawkes::point_t *  operator->();
00050   fawkes::point_t *  operator++();
00051   fawkes::point_t *  operator++(int);
00052 
00053   void advance();
00054   bool finished();
00055   void reset();
00056   const char* get_name();
00057   unsigned int get_margin();
00058   void set_robot_pose(float x, float y, float ori);
00059   void set_pan_tilt(float pan, float tilt);
00060   void skip_current_ray();
00061   unsigned int num_rays() const;
00062   unsigned int ray_index() const;
00063   unsigned int current_radius() const;
00064   float current_angle() const;
00065   bool first_on_ray() const;
00066 
00067  private:
00068   void generate_scan_points();
00069 
00070   unsigned int m_image_width;
00071   unsigned int m_image_height;
00072   fawkes::point_t m_center;
00073   unsigned int m_num_rays;
00074   unsigned int m_radius_incr;
00075   unsigned int m_dead_radius;
00076   unsigned int m_max_radius;
00077   unsigned int m_margin;
00078   float m_angle_incr;
00079   unsigned char* m_mask;
00080 
00081   bool m_first_on_ray;
00082   bool m_done;
00083 
00084   fawkes::point_t m_current_point;
00085   fawkes::point_t m_tmp_point;
00086   unsigned int m_ray_index;
00087 
00088   typedef std::map<unsigned int, fawkes::point_t> Ray;
00089   std::map<float, Ray*> m_rays;
00090   std::map<float, Ray*>::iterator m_ray_iter;
00091   Ray::iterator m_point_iter;
00092 
00093   //  std::vector<float> m_angles;
00094   //  std::vector<float>::iterator m_angle_iter;
00095 
00096   Ray* m_first_ray;
00097   Ray* m_previous_ray;
00098 };
00099 
00100 } // end namespace firevision
00101 
00102 #endif /* __FIREVISION_MODELS_SCANLINES_STAR_H_ */

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