Modules/ImageProcessor/RasterImageProcessor/REnemySpecialist.h

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// REnemySpecialist.h: Schnittstelle für die Klasse REnemySpecialist.
//
//////////////////////////////////////////////////////////////////////

#ifndef RENEMYSPECIALIST_H
#define RENEMYSPECIALIST_H


#include "RasterSpecialist.h"
#include "Tools/Math/Geometry.h"
#include <vector>
#include "Tools/Math/Vector2.h"
#include "RasterStrategy.h"
#include "RasterImageProcessor.h"
#include "Modules/ImageProcessor/ImageProcessor.h"


class REnemySpecialist :public RasterSpecialist
{
typedef const unsigned char* I_Pin;

public:
  REnemySpecialist(RasterImageProcessor &processor,RasterStrategy &strat);
  virtual ~REnemySpecialist();
  void invokeOnPostScan(int x, int y);  
  void executePostProcessing();
  void invokeOnPreScan(int x,int y);
  virtual int getType();
  virtual void init();
  Vector2<int> calculateFarestPoint(std::list<LinePair> enemyLines);
  Vector2<int> calculateFarestPointCOG(int numberOfFootPoints,std::list<LinePair> enemyLines);
  Vector2<int> calculateFarestPointFastCOG(std::list<LinePair> enemyLines);
    Vector2<int> calculatePointOnFieldFromSegment(std::list<LinePair> enemyLines);

  int   maximums[2];
  int   maxCountSum;
  int   countSum;
  int   max;
  
private:
  static void sort(int footPointDistance[], Vector2<double> footPoint[], const int& start, const int& end);
  inline bool isCross(const LinePair& horizontal,const LinePair vertical)
        {
    return horizontal.v1.x <= vertical.v1.x 
      && horizontal.v2.x >= vertical.v1.x
      && vertical.v2.y <= horizontal.v1.y 
      && vertical.v1.y >= horizontal.v1.y;
  }
  RasterStrategy *strategy; 
  std::vector<RasterSpecialist::LinePair> columns;  
  std::vector<RasterSpecialist::LinePair> lines;  
  Vector2< int> tempP;
        Geometry::Line horizon; /**< The horizon. */

  int leftBorderOfNewLp;  
};

#endif







/*
* Change log :
* 
* $Log: REnemySpecialist.h,v $
* 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 1.17  2004/03/12 10:11:58  neubach
* - added alternative footpointCalculation
*
* Revision 1.16  2004/03/01 11:00:18  neubach
* - removed Debug-Outputs
* - beautified Code
* - faster 2 PointApproximation
*
* Revision 1.15  2004/02/10 17:01:50  koh
* removed #ifdef TrikotErkennung,
* enemySpecialist recognizes black color now
*
* Revision 1.14  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 1.13  2004/02/03 21:35:31  kerdels
* warnings removed
*
* Revision 1.12  2004/02/03 21:18:27  hyung
* some minor changes,
*
* size of Segmentborder-Array (TrikotErkennung) basically adaptive to rip-resolution
*
* Revision 1.11  2004/02/02 10:47:39  neubach
* - removed Warnings
* - added calculateFarestPointCOG-Method, which improves approximation of EnemyPositions via Center of Gravity Method for n footPoints
*
* Revision 1.10  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 1.9  2004/01/23 10:40:53  neubach
* - freezed alternative "Trikoterkennung" and other cosmetic changes
*
* Revision 1.8  2004/01/23 10:13:17  neubach
* - ball should no longer be misinterpreted as enemy
*
* Revision 1.7  2004/01/21 03:25:36  hyung
* TrikotErkennung update
*
* Revision 1.6  2004/01/16 09:08:42  neubach
* - support for processing >1 enemy-segments (buggy)
*
* Revision 1.5  2004/01/07 10:21:57  neubach
* - prepared code for processing >1 segments
*
* Revision 1.4  2003/12/16 10:29:17  neubach
* - added calculation of farest point (from horizon) for a playerSegment
* - added conversion point on cameraPicture -> point on Field
*
* Revision 1.3  2003/12/15 13:55:32  schmidtb
* Merged and patched new version of RasterImageProcessor.
*
* Revision 1.2  2003/12/08 15:02:55  schmidtb
* new version of RIP
*
*
*
*/

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