Fawkes API
Fawkes Development Version
Main Page
Related Pages
Modules
Namespaces
Classes
Files
File List
All
Classes
Namespaces
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Groups
Pages
radial.h
1
2
/***************************************************************************
3
* radial.h - Scanline model implementation: radial
4
*
5
* Created: Tue Jul 19 12:05:31 2005
6
* Copyright 2005 Tim Niemueller [www.niemueller.de]
7
*
8
****************************************************************************/
9
10
/* This program is free software; you can redistribute it and/or modify
11
* it under the terms of the GNU General Public License as published by
12
* the Free Software Foundation; either version 2 of the License, or
13
* (at your option) any later version. A runtime exception applies to
14
* this software (see LICENSE.GPL_WRE file mentioned below for details).
15
*
16
* This program is distributed in the hope that it will be useful,
17
* but WITHOUT ANY WARRANTY; without even the implied warranty of
18
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19
* GNU Library General Public License for more details.
20
*
21
* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
22
*/
23
24
#ifndef __FIREVISION_SCANLINE_RADIAL_H_
25
#define __FIREVISION_SCANLINE_RADIAL_H_
26
27
#include <fvmodels/scanlines/scanlinemodel.h>
28
#include <fvutils/base/types.h>
29
30
namespace
firevision {
31
#if 0
/* just to make Emacs auto-indent happy */
32
}
33
#endif
34
35
class
ScanlineRadial
:
public
ScanlineModel
36
{
37
38
public
:
39
40
ScanlineRadial
(
unsigned
int
width,
unsigned
int
height,
41
unsigned
int
center_x,
unsigned
int
center_y,
42
unsigned
int
radius_increment,
unsigned
int
step,
43
unsigned
int
max_radius = 0,
unsigned
int
dead_radius = 0
44
);
45
46
fawkes::point_t
operator*();
47
fawkes::point_t
* operator->();
48
fawkes::point_t
* operator++();
49
fawkes::point_t
* operator++(
int
);
50
51
bool
finished();
52
void
reset();
53
const
char
* get_name();
54
unsigned
int
get_margin();
55
56
virtual
void
set_robot_pose
(
float
x,
float
y,
float
ori) {}
57
virtual
void
set_pan_tilt
(
float
pan,
float
tilt) {}
58
59
void
set_center(
unsigned
int
center_x,
unsigned
int
center_y);
60
void
set_radius(
unsigned
int
dead_radius,
unsigned
int
max_radius);
61
62
63
private
:
64
65
void
simpleBubbleSort(
unsigned
int
array[],
unsigned
int
num_elements);
66
67
unsigned
int
width;
68
unsigned
int
height;
69
unsigned
int
center_x;
70
unsigned
int
center_y;
71
unsigned
int
radius_increment;
72
unsigned
int
step;
73
unsigned
int
current_radius;
74
unsigned
int
max_radius;
75
unsigned
int
dead_radius;
76
bool
auto_max_radius;
77
78
fawkes::point_t
coord;
79
fawkes::point_t
tmp_coord;
80
81
unsigned
int
sector;
82
83
bool
done;
84
85
int
x;
86
int
y;
87
int
tmp_x;
88
int
tmp_y;
89
90
};
91
92
}
// end namespace firevision
93
94
#endif
src
libs
fvmodels
scanlines
radial.h
Generated by
1.8.1.2