Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * beams.h - Scanline model implementation: beams 00004 * 00005 * Created: Tue Apr 17 20:59:58 2007 00006 * Copyright 2005-2007 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_BEAMS_H_ 00025 #define __FIREVISION_SCANLINE_BEAMS_H_ 00026 00027 #include <models/scanlines/scanlinemodel.h> 00028 #include <fvutils/base/types.h> 00029 00030 #include <vector> 00031 00032 namespace firevision { 00033 #if 0 /* just to make Emacs auto-indent happy */ 00034 } 00035 #endif 00036 00037 class ScanlineBeams : public ScanlineModel 00038 { 00039 00040 public: 00041 00042 ScanlineBeams(unsigned int image_width, unsigned int image_height, 00043 unsigned int start_x, unsigned int start_y, 00044 unsigned int stop_y, unsigned int offset_y, 00045 bool distribute_start_x, 00046 float angle_from, float angle_range, unsigned int num_beams); 00047 00048 fawkes::point_t operator*(); 00049 fawkes::point_t * operator->(); 00050 fawkes::point_t * operator++(); 00051 fawkes::point_t * operator++(int); 00052 00053 bool finished(); 00054 void reset(); 00055 const char * get_name(); 00056 unsigned int get_margin(); 00057 00058 virtual void set_robot_pose(float x, float y, float ori) {} 00059 virtual void set_pan_tilt(float pan, float tilt) {} 00060 00061 private: 00062 void advance(); 00063 00064 00065 bool _finished; 00066 00067 std::vector<fawkes::point_t> beam_current_pos; 00068 std::vector<fawkes::point_t> beam_end_pos; 00069 00070 unsigned int start_x; 00071 unsigned int start_y; 00072 float angle_from; 00073 float angle_range; 00074 unsigned int num_beams; 00075 unsigned int stop_y; 00076 unsigned int offset_y; 00077 unsigned int image_width; 00078 unsigned int image_height; 00079 bool distribute_start_x; 00080 00081 fawkes::point_t coord; 00082 fawkes::point_t tmp_coord; 00083 00084 unsigned int next_beam; 00085 unsigned int first_beam; 00086 unsigned int last_beam; 00087 }; 00088 00089 } // end namespace firevision 00090 00091 #endif