Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * grid.h - Scanline model implementation: grid 00004 * 00005 * Created: Sun May 08 21:54:49 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_GRID_H_ 00025 #define __FIREVISION_SCANLINE_GRID_H_ 00026 00027 #include <models/scanlines/scanlinemodel.h> 00028 #include <fvutils/base/roi.h> 00029 #include <fvutils/base/types.h> 00030 00031 namespace firevision { 00032 #if 0 /* just to make Emacs auto-indent happy */ 00033 } 00034 #endif 00035 00036 class ScanlineGrid : public ScanlineModel 00037 { 00038 00039 public: 00040 00041 ScanlineGrid(unsigned int width, unsigned int height, 00042 unsigned int offset_x, unsigned int offset_y, 00043 ROI* roi = NULL, bool horizontal_grid = true); 00044 virtual ~ScanlineGrid(); 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 virtual void set_roi(ROI* roi = NULL); 00059 00060 void setDimensions(unsigned int width, unsigned int height, ROI* roi = NULL); 00061 void setOffset(unsigned int offset_x, unsigned int offset_y); 00062 void setGridParams(unsigned int width, unsigned int height, 00063 unsigned int offset_x, unsigned int offset_y, 00064 ROI* roi = NULL, bool horizontal_grid = true); 00065 00066 private: 00067 unsigned int width; 00068 unsigned int height; 00069 unsigned int offset_x; 00070 unsigned int offset_y; 00071 00072 ROI* roi; 00073 00074 bool horizontal_grid; 00075 bool more_to_come; 00076 00077 fawkes::point_t coord; 00078 fawkes::point_t tmp_coord; 00079 00080 void calc_next_coord(); 00081 }; 00082 00083 } // end namespace firevision 00084 00085 #endif