00001 /** 00002 * @file ChallengeSpecialVision.h 00003 * 00004 * Definition of class ChallengeSpecialVision 00005 * This class finds out the orientation of the robot for the "Almost-Slam-Challenge" 00006 * 00007 * @author Thomas Kindler 00008 * @author Matthias Hülsbusch 00009 * @author Michael Wachter 00010 */ 00011 00012 #ifndef __ChallengeSpecialVision_h_ 00013 #define __ChallengeSpecialVision_h_ 00014 00015 #include "SpecialVision.h" 00016 00017 00018 #define NUMBEROFSECTORS 36 00019 00020 class ChallengeSectorData 00021 { 00022 public: 00023 int numPixels[numOfColors]; 00024 }; 00025 00026 00027 class ChallengeSpecialVision : public SpecialVision 00028 { 00029 public: 00030 /** Constructor 00031 * @param interfaces The interfaces of the SpecialVision module */ 00032 ChallengeSpecialVision(const SpecialVisionInterfaces& interfaces); 00033 00034 /** Executes the module */ 00035 virtual void execute(); 00036 00037 private: 00038 void executeLearnOrientation(); 00039 void executeFindOrientation(); 00040 void executeGetOrientation(); 00041 void executeReset(); 00042 ChallengeSectorData countPixels(int x1,int x2,int y1,int y2); 00043 00044 private: 00045 void sort( double* a, const int number); 00046 double alngleDifDegree(double a, double b); 00047 double flagAngle[MAXLEARNFLAGS]; 00048 double foundAngle[MAXLEARNFLAGS]; 00049 int flagCount; 00050 int foundAngleCount; 00051 00052 private: 00053 ChallengeSectorData data[NUMBEROFSECTORS]; 00054 00055 }; 00056 00057 #endif// __BarCodeReader_h_ 00058 00059 /* 00060 * Change log : 00061 * 00062 * $Log: ChallengeSpecialVision.h,v $ 00063 * Revision 1.3 2004/07/01 18:42:08 hamerla 00064 * SLAM challenge find Orientation 00065 * 00066 * Revision 1.2 2004/06/28 16:02:37 wachter 00067 * First lines of code for challenge-special-vision 00068 * 00069 * Revision 1.1 2004/06/28 11:54:55 wachter 00070 * Added Special-Vision classes for Challenge 00071 * 00072 * 00073 */
1.3.6