Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * line_grid.h - Scanline model implementation: line grid 00004 * 00005 * Created: Wen Mar 25 17:31:00 2009 00006 * Copyright 2009 Christof Rath <c.rath@student.tugraz.at> 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_LINE_GRID_H_ 00025 #define __FIREVISION_SCANLINE_LINE_GRID_H_ 00026 00027 #include "scanlinemodel.h" 00028 #include <fvutils/base/types.h> 00029 #include <fvutils/color/yuv.h> 00030 00031 #include <list> 00032 00033 namespace firevision { 00034 #if 0 /* just to make Emacs auto-indent happy */ 00035 } 00036 #endif 00037 00038 class ROI; 00039 00040 class ScanlineLineGrid : public ScanlineModel 00041 { 00042 private: 00043 typedef std::list<fawkes::point_t> point_list_t; 00044 00045 public: 00046 ScanlineLineGrid(unsigned int width, unsigned int height, 00047 unsigned int offset_hor, unsigned int offset_ver, 00048 ROI* roi = NULL, unsigned int gap = 0); 00049 virtual ~ScanlineLineGrid(); 00050 00051 fawkes::point_t operator*(); 00052 fawkes::point_t * operator->(); 00053 fawkes::point_t * operator++(); 00054 fawkes::point_t * operator++(int); 00055 00056 bool finished(); 00057 void reset(); 00058 const char * get_name(); 00059 unsigned int get_margin(); 00060 00061 virtual void set_robot_pose(float x, float y, float ori); 00062 virtual void set_pan_tilt(float pan, float tilt); 00063 00064 virtual void set_dimensions(unsigned int width, unsigned int height, ROI* roi = NULL); 00065 virtual void set_offset(unsigned int offset_x, unsigned int offset_y); 00066 virtual void set_grid_params(unsigned int width, unsigned int height, 00067 unsigned int offset_hor, unsigned int offset_ver, ROI* roi = NULL); 00068 virtual void set_roi(ROI* roi = NULL); 00069 00070 private: 00071 unsigned int __width; 00072 unsigned int __height; 00073 unsigned int __offset_ver; 00074 unsigned int __offset_hor; 00075 unsigned int __next_pixel; 00076 00077 ROI* __roi; 00078 00079 point_list_t __point_list; 00080 point_list_t::iterator __cur; 00081 00082 void calc_coords(); 00083 }; 00084 00085 } // end namespace firevision 00086 00087 #endif //__FIREVISION_SCANLINE_LINE_GRID_H_