Modules/ImageProcessor/RasterImageProcessor/RDefaultStrategy.h

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/**
* @file RDefaultStrategy.h
* 
* This file contains the definition of class RasterDefaultStrategy.
* @author Damien Deom
* @author Hyung Won Koh
* @author Manuel Neubach
* @author <a href="mailto:sadprofessor@web.de">Bernd Schmidt</a>
*/
#ifndef RDEFAULTSTRATEGY_H
#define RDEFAULTSTRATEGY_H

class RDefaultStrategy;

#include "RasterStrategy.h"
#include "REnemySpecialist.h"
#include "RBallSpecialist2.h"
#include "RFieldSpecialist.h"
#include "BoxSpecialist.h"
#include "RFieldStateMachine.h"
#include "RBridgeSpecialist.h"
#include "Modules/ImageProcessor/RasterImageProcessor/REdgeDetection.h"
#include <vector>
#include <deque>

#include "Tools/Math/Geometry.h"
/** @class RDefaultStrategy 
* Default-implementation of RasterStrategy.
* @author Damien Deom
* @author Hyung Won Koh
* @author Manuel Neubach
* @author <a href="mailto:sadprofessor@web.de">Bernd Schmidt</a>*/
class RDefaultStrategy : public RasterStrategy  
{
public: 
  /** The Constructor. 
  * For creation the RasterImageProcessor is needed.
  * @param processor The image-processor.
  */
  RDefaultStrategy(RasterImageProcessor &processor);
  /** Destructor */
  virtual ~RDefaultStrategy();
  
  /** Executes the strategy */
  void execute();
  /** Initializes the strategy and its specialists.*/
  void init();

private: 

  /** Executes the pre-scan.*/
  void preScan();
  /** Executes the post-scan.*/
  void postScan();
  /** Executes the post-processing.*/
  void postProcessing();
  /** Helper method for the scans.
  *   @param x  x-coordinate
  *   @param y  y-coordinate  
  *   @param prePost  pre or post scan
  */
  void checkBall(int x,int y,int prePost);
  /** Helper method for the scans.
  *   @param x  x-coordinate
  *   @param y  y-coordinate  
  *   @param prePost  pre or post scan
  */
  void checkField(int x,int y,int prePost);
  /** Helper method for the scans.
  *   @param x  x-coordinate
  *   @param y  y-coordinate  
  *   @param prePost  pre or post scan
  */
  void checkPlayer(int x,int y,int prePost);
  /** Helper method for the scans.
  *   @param x  x-coordinate
  *   @param y  y-coordinate  
  *   @param prePost  pre or post scan
  */
  void checkBox(int x, int y,int prePost);
  /** Helper method for the scans.
  *   @param x  x-coordinate
  *   @param y  y-coordinate  
  */
  void checkBridge(int x, int y);
  /** Helper method for the scans.
  *   @param x  x-coordinate
  *   @param y  y-coordinate  
  */
  void checkRedLine(int x,int y);

  /** A pointer to the ball specialist.*/
  RBallSpecialist2* ballSpecialist;
  /** A pointer to the field specialist (for Open Challenge 04).*/
  RFieldSpecialist* fieldSpecialist;
  /** A pointer to the player specialist.*/
  REnemySpecialist* enemySpecialist;
  /** A pointer to the box specialist (detects landmarks and goals).*/
  BoxSpecialist* boxSpecialist;
  /** A pointer to the bridge specialist (for Open Challenge 04).*/
  RBridgeSpecialist* bridgeSpecialist;
  /** The edge detector.*/
  REdgeDetection edgeScanner;
  /** The point state machine.*/
  RFieldStateMachine fieldDSA;
  /** The color of the previous pixel.*/
  colorClass lastColor; 
  /** The current color.*/
  colorClass currentColor;
  /** Width of the image.*/
  int width;
  /** Height of the image.*/
  int height;
  /** The subsampling factor for the ball.*/
  int ballFactor;
  /** The subsampling factor for the field.*/
  int fieldFactor;
  /** The subsampling factor for the goals.*/
  int goalFactor;
  /** The subsampling factor for the players.*/
  int playerFactor;
  /** The subsampling factor for the landmarks.*/
  int lmFactor;
  /** A temporary variable.*/
  colorClass BoxColor;
  /** A temporary variable.*/
  colorClass bridgeColor;
  /** Activation array for the several specialists.*/
  bool active[7];
  /** Threshold for the edge detection of the post scan.*/
  int postThreshold;
};

#endif

/*
* Change log :
* 
* $Log: RDefaultStrategy.h,v $
* Revision 1.6  2004/09/09 11:08:04  spranger
* renamed GT2004EdgeDetection to REdgeDetection for consistency
*
* Revision 1.5  2004/09/09 10:15:55  spranger
* fixed doxygen-errors
*
* Revision 1.4  2004/09/06 12:02:26  schmidtb
* commented almost all members, removed warnings in documentation

* did further code clean up
*
* Revision 1.3  2004/09/02 07:59:29  schmidtb
* Added RasterImageProcessor to repository, because we used it for the OpenChallenge.
*
* Revision 1.31  2004/05/25 13:27:33  schmidtb
* modified version of rip for open-challenge
*
* Revision 1.30  2004/05/24 14:45:04  deom
* commented out bridgeSpecialist
*
* Revision 1.29  2004/05/22 19:03:40  deom
* -now recognizes the red line
* -all the data required for the positionning are computed
*
* Revision 1.31  2004/05/22 16:01:50  pg_besc
* -modified version of rip for bridge-recognition
*
* Revision 1.30  2004/04/20 07:50:27  pg_besc
* new version of pre scan
*
* Revision 1.29  2004/04/15 19:09:17  pg_besc
* merged code
*
* Revision 1.28  2004/03/17 22:31:34  schmidtb
* integrated RFieldStateMachine and horizonal grid scan
*
* Revision 1.27  2004/03/17 17:05:18  koh
* added enemyOnlySpecialist to strategy;
* added enemySpecialist2 to strategy;
*
* Revision 1.26  2004/03/11 20:49:39  schmidtb
* new version of rip , merged code
*
* Revision 1.25  2004/03/03 12:53:21  schmidtb
* color correction integrated
*
* Revision 1.24  2004/03/01 14:17:25  koh
* added new strategy "RFlexibleStrategy" + new specialist "EnemyOnlySpecialist";
* changed references to "RDefaultStrategy" to references to "RasterStrategy" in RFieldSpecialist
* added Geometry::Line horizon to "RasterStrategy"
*
* Revision 1.23  2004/02/18 14:56:19  neubach
* new Segmentation established, code not cleared at all
*
* Revision 1.21  2004/02/04 15:05:20  schmidtb
* warnings removed
*
* Revision 1.20  2004/02/04 13:00:49  schmidtb
* new version of BoxSpecialist
*
* Revision 1.19  2004/02/03 23:09:18  hyung
* Array based on rasterWidth now
*
* ! somehow it seems that my code produces warnings for which I'm
* very very sorry, but my compiler told me always 0 errors, 0 warnings....
* does somebody know the reason?
*
* Revision 1.18  2004/02/03 21:18:27  hyung
* some minor changes,
*
* size of Segmentborder-Array (TrikotErkennung) basically adaptive to rip-resolution
*
* Revision 1.17  2004/02/02 13:42:12  schmidtb
* merged sources of RIP. added som functions.
*
* Revision 1.16  2004/01/31 11:45:02  hyung
* modified enemyValidity-calculation;
* established basical enviroment for TrikotErkennung, based on Arrays and Lists, changes will take affect only #ifdef TrikotErkennung!
*
* Revision 1.15  2004/01/23 15:44:01  deom
* New specialist :: BoxSpecialist
* Recognizes both landmarks and goals
*
* Revision 1.14  2004/01/23 10:13:17  neubach
* - ball should no longer be misinterpreted as enemy
*
* Revision 1.13  2004/01/21 03:25:36  hyung
* TrikotErkennung update
*
* Revision 1.12  2004/01/19 12:47:42  hyung
* #ifDef TrikotErkennung mit alternativem Einstiegspunkt für Gegnererkennung
*
* Revision 1.11  2004/01/16 17:24:57  deom
* no message
*
* Revision 1.10  2003/12/18 17:44:46  hyung
* established new version of method checkGoal(int x,int y)
*
* Revision 1.9  2003/12/15 13:55:32  schmidtb
* Merged and patched new version of RasterImageProcessor.
*
* Revision 1.8  2003/12/09 13:55:16  schumann
* added missing include causing unresolved externals
*
* Revision 1.7  2003/12/08 15:02:55  schmidtb
* new version of RIP
*
* Revision 1.6  2003/12/04 09:51:23  schmidtb
* better BallSpecialist
*
* Revision 1.5  2003/12/02 21:59:02  schmidtb
* New version of RasterImageProcessor
*
* Revision 1.4  2003/11/28 14:50:01  dueffert
* bugs and warnings fixed
*
* Revision 1.3  2003/11/20 10:26:56  schmidtb
* Ball Detection added
*
* Revision 1.2  2003/11/13 10:41:29  schmidtb
* renewed RBallSpeciaslist and Strategy
*
* Revision 1.1  2003/11/12 13:13:20  schmidtb
* new RasterImageProcessor added
*
*
*/

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