Modules/ImageProcessor/RasterImageProcessor/RasterStrategy.h

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/**
* @file RasterStrategy.h
* 
* This file contains the definition of class RasterStrategy.
*
* @author <a href="mailto:sadprofessor@web.de">Bernd Schmidt</a>
*/
#ifndef RASTERSTRATEGY_H
#define RASTERSTRATEGY_H

class RasterStrategy;

#include "RasterImageProcessor.h"
#include "Representations/Perception/ColorTableTSL.h"
#include <vector>

const int Y_VALUE = 0, /**< Relative offset of Y component. */
      U_VALUE = cameraResolutionWidth_ERS7, /**< Relative offset of U component. */
      V_VALUE = 2 * cameraResolutionWidth_ERS7; /**< Relative offset of V component. */ 

/** @class RasterStrategy 
*   Base-class for RasterStrategies.
* 
*   A RasterStrategy is a object that delegates a collection of specialists.
*   And decides what pixels are scanned on the image.
*   First the image has to be scanned, than the several post-processings
*   of the specialists have to be executed.
*   @author <a href="mailto:sadprofessor@web.de">Bernd Schmidt</a>
*/
class RasterStrategy  
{
public:

  /** Keys for the several activities can be made by strategies. */
  enum ActivationKeys{
    preScan = 0,
    postScan,
    ball,
    flag,
    goal,
    lines,
    foes,
    numberOfActivationKeys
  };

  typedef const unsigned char* I_Pin;

  /** True if the strategy scans over a ball.*/
  bool insideBall;
  /** True if the strategy scans over a box.*/
  bool insideBox;
  /** True if the strategy scans over a bridge beacon.*/
  bool insideBridge;
  /** True if the strategy scans over a player.*/
  bool insidePlayer;
  /** True if the strategy scans over the field.*/
  bool insideField;
  /** True if the strategy scans over a landmark.*/
  bool insideLM;

  /** Constructor
  *
  *     @param iProcessor The image processor interfaces.
  */
  RasterStrategy(RasterImageProcessor &iProcessor);
  /** Destructor */
  virtual ~RasterStrategy();
  
  /** Initializes a strategy and the related specialists. 
  * Call this before execute().*/
  virtual void init() = 0;
  /** Executes the strategy. */
  virtual void execute() = 0;

  protected:
  /** The image processor interfaces */
  RasterImageProcessor *rip;

  /** Implemented with ColorTable interface.
  * Corrects the color before classifying.
  * @param v input pixel
  * @return The classified color of the pixel.
  */  
  inline colorClass getColor(Vector2<int> v){
    return getColor(v.x,v.y); 
  };
  /** Implemented with ColorTable interface.
  * Corrects the color before classifying.
  * @param x x-coordinate of the requested pixel
  * @param y y-coordinate of the requested pixel
  * @return The classified color of the pixel.*/
  inline colorClass getColor(int x,int y){
    unsigned char cy = rip->image.image[y][0][x];
    unsigned char cu = rip->image.image[y][1][x];
    unsigned char cv = rip->image.image[y][2][x];
    ColorCorrector::correct(x,y,cy,cu,cv);
    return rip->colorTable.getColorClass(cy,cu,cv); 
  };
  /** Implemented with ColorTable interface.
  *   @param x X-coordinate of the requested pixel.
  *   @param y Y-coordinate of the requested pixel.
  *   @param color The color class to match.
  *   @return True if color equals getColor(x,y).
  */
  inline bool checkColor(int x,int y,colorClass color){
    return  color == getColor(x,y);
  };
  /** Implemented with ColorTable interface.
  *   @param v The requested pixel.
  *   @param color The color class to match.
  *   @return True if color equals getColor(x,y).
  */
  inline bool checkColor(Vector2<int> v,colorClass color){
    return  color == getColor(v.x,v.y);
  };
  /** The theta function.
  * @param dx first vector of the difference
  * @param dy second vector of the difference
  * @return a number between 0 and 360 with the same order as v.angle()*/
  inline double theta(int dx,int dy){
    double t = 0;
    int ax = abs(dx);
    int ay = abs(dy);
    if (dx == 0 && dy == 0) t = 0;
    else t = (double)dy /(double)(ax + ay);
    if (dx < 0) t = 2 - t;
    else if (dy < 0) t = 4 + t;
    return t*90; // multiplication with 90 is not really needed for correct ordering
  }

};

#endif // !defined(AFX_RASTERSTRATEGY_H__E73419DC_85CE_4D73_87C1_DEBCEC21740B__INCLUDED_)

/*
* Change log :
* 
* $Log: RasterStrategy.h,v $
* Revision 1.5  2004/09/06 12:02:26  schmidtb
* commented almost all members, removed warnings in documentation

* did further code clean up
*
* Revision 1.4  2004/09/03 11:32:14  nistico
* References to MSH2004ColorCorrector removed, now uses the unified ColorCorrector
*
* Revision 1.3  2004/09/02 07:59:29  schmidtb
* Added RasterImageProcessor to repository, because we used it for the OpenChallenge.
*
* Revision 1.16  2004/05/27 11:18:48  schmidtb
* new version with further work for open challenge
*
* Revision 1.15  2004/05/25 13:27:34  schmidtb
* modified version of rip for open-challenge
*
* Revision 1.16  2004/05/22 16:01:49  pg_besc
* -modified version of rip for bridge-recognition
*
* Revision 1.15  2004/05/18 10:52:14  pg_besc
* version of the last game at US-Open
*
* Revision 1.14  2004/04/15 19:09:02  pg_besc
* merged code
*
* Revision 1.13  2004/03/17 17:06:09  koh
* added enemyOnlySpecialist;
* added enemySpecialist2;
* added some int and bool variables
*
* Revision 1.12  2004/03/11 20:34:01  schmidtb
* new version of rip
*
* Revision 1.11  2004/03/04 09:54:52  schmidtb
* color correction integrated
*
* Revision 1.10  2004/03/03 12:53:22  schmidtb
* color correction integrated
*
* Revision 1.9  2004/03/01 14:17:26  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 1.8  2004/02/02 13:42:12  schmidtb
* merged sources of RIP. added som functions.
*
* Revision 1.7  2004/01/23 15:44:01  deom
* New specialist :: BoxSpecialist
* Recognizes both landmarks and goals
*
* Revision 1.6  2003/12/15 13:55:33  schmidtb
* Merged and patched new version of RasterImageProcessor.
*
* Revision 1.5  2003/12/02 21:59:02  schmidtb
* New version of RasterImageProcessor
*
* Revision 1.4  2003/12/02 12:45:44  neubach
* new EnemySpecialist added
*
* 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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