Fawkes API  Fawkes Development Version
grid.h
1 
2 /***************************************************************************
3  * grid.h - Scanline model implementation: grid
4  *
5  * Created: Sun May 08 21:54:49 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_GRID_H_
25 #define _FIREVISION_SCANLINE_GRID_H_
26 
27 #include <fvmodels/scanlines/scanlinemodel.h>
28 #include <fvutils/base/roi.h>
29 #include <fvutils/base/types.h>
30 
31 namespace firevision {
32 
34 {
35 public:
36  ScanlineGrid(unsigned int width,
37  unsigned int height,
38  unsigned int offset_x,
39  unsigned int offset_y,
40  ROI * roi = NULL,
41  bool horizontal_grid = true);
42  virtual ~ScanlineGrid();
43 
48 
49  bool finished();
50  void reset();
51  const char * get_name();
52  unsigned int get_margin();
53 
54  virtual void set_robot_pose(float x, float y, float ori);
55  virtual void set_pan_tilt(float pan, float tilt);
56  virtual void set_roi(ROI *roi = NULL);
57 
58  void setDimensions(unsigned int width, unsigned int height, ROI *roi = NULL);
59  void setOffset(unsigned int offset_x, unsigned int offset_y);
60  void setGridParams(unsigned int width,
61  unsigned int height,
62  unsigned int offset_x,
63  unsigned int offset_y,
64  ROI * roi = NULL,
65  bool horizontal_grid = true);
66 
67 private:
68  unsigned int width;
69  unsigned int height;
70  unsigned int offset_x;
71  unsigned int offset_y;
72 
73  ROI *roi;
74 
75  bool horizontal_grid;
76  bool more_to_come;
77 
78  fawkes::upoint_t coord;
79  fawkes::upoint_t tmp_coord;
80 
81  void calc_next_coord();
82 };
83 
84 } // end namespace firevision
85 
86 #endif
firevision::ScanlineGrid::~ScanlineGrid
virtual ~ScanlineGrid()
Destructor.
Definition: grid.cpp:62
firevision::ScanlineGrid::ScanlineGrid
ScanlineGrid(unsigned int width, unsigned int height, unsigned int offset_x, unsigned int offset_y, ROI *roi=NULL, bool horizontal_grid=true)
Constructor.
Definition: grid.cpp:48
fawkes::upoint_t
Point with cartesian coordinates as unsigned integers.
Definition: types.h:35
firevision::ROI
Region of interest.
Definition: roi.h:55
firevision::ScanlineModel
Scanline model interface.
Definition: scanlinemodel.h:53
firevision::ScanlineGrid::operator*
fawkes::upoint_t operator*()
Get the current coordinate.
Definition: grid.cpp:68
firevision::ScanlineGrid::set_robot_pose
virtual void set_robot_pose(float x, float y, float ori)
Set the robot's pose.
Definition: grid.cpp:154
firevision::ScanlineGrid::setDimensions
void setDimensions(unsigned int width, unsigned int height, ROI *roi=NULL)
Set dimensions.
Definition: grid.cpp:204
firevision::ScanlineGrid
Scanline Grid.
Definition: grid.h:34
firevision::ScanlineGrid::setOffset
void setOffset(unsigned int offset_x, unsigned int offset_y)
Set offset.
Definition: grid.cpp:218
firevision::ScanlineGrid::setGridParams
void setGridParams(unsigned int width, unsigned int height, unsigned int offset_x, unsigned int offset_y, ROI *roi=NULL, bool horizontal_grid=true)
Set all grid parameters.
Definition: grid.cpp:239
firevision::ScanlineGrid::get_margin
unsigned int get_margin()
Get margin around points.
Definition: grid.cpp:148
firevision::ScanlineGrid::operator->
fawkes::upoint_t * operator->()
Get pointer to current point.
Definition: grid.cpp:74
firevision::ScanlineGrid::operator++
fawkes::upoint_t * operator++()
Postfix ++ operator.
Definition: grid.cpp:112
firevision::ScanlineGrid::reset
void reset()
Reset model.
Definition: grid.cpp:133
firevision::ScanlineGrid::set_pan_tilt
virtual void set_pan_tilt(float pan, float tilt)
Set camera's pan/tilt values.
Definition: grid.cpp:160
firevision::ScanlineGrid::get_name
const char * get_name()
Get name of scanline model.
Definition: grid.cpp:142
firevision::ScanlineGrid::finished
bool finished()
Check if all desired points have been processed.
Definition: grid.cpp:127
firevision::ScanlineGrid::set_roi
virtual void set_roi(ROI *roi=NULL)
Set the region-of-interest.
Definition: grid.cpp:166