RDefaultStrategy Class Reference

Default-implementation of RasterStrategy. More...

#include <RDefaultStrategy.h>

Inheritance diagram for RDefaultStrategy:

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[legend]List of all members.

Public Member Functions
	RDefaultStrategy (RasterImageProcessor &processor)
	The Constructor.
virtual	~RDefaultStrategy ()
	Destructor.
void	execute ()
	Executes the strategy.
void	init ()
	Initializes the strategy and its specialists.
Private Member Functions
void	preScan ()
	Executes the pre-scan.
void	postScan ()
	Executes the post-scan.
void	postProcessing ()
	Executes the post-processing.
void	checkBall (int x, int y, int prePost)
	Helper method for the scans.
void	checkField (int x, int y, int prePost)
	Helper method for the scans.
void	checkPlayer (int x, int y, int prePost)
	Helper method for the scans.
void	checkBox (int x, int y, int prePost)
	Helper method for the scans.
void	checkBridge (int x, int y)
	Helper method for the scans.
void	checkRedLine (int x, int y)
	Helper method for the scans.
Private Attributes
RBallSpecialist2 *	ballSpecialist
	A pointer to the ball specialist.
RFieldSpecialist *	fieldSpecialist
	A pointer to the field specialist (for Open Challenge 04).
REnemySpecialist *	enemySpecialist
	A pointer to the player specialist.
BoxSpecialist *	boxSpecialist
	A pointer to the box specialist (detects landmarks and goals).
RBridgeSpecialist *	bridgeSpecialist
	A pointer to the bridge specialist (for Open Challenge 04).
REdgeDetection	edgeScanner
	The edge detector.
RFieldStateMachine	fieldDSA
	The point state machine.
colorClass	lastColor
	The color of the previous pixel.
colorClass	currentColor
	The current color.
int	width
	Width of the image.
int	height
	Height of the image.
int	ballFactor
	The subsampling factor for the ball.
int	fieldFactor
	The subsampling factor for the field.
int	goalFactor
	The subsampling factor for the goals.
int	playerFactor
	The subsampling factor for the players.
int	lmFactor
	The subsampling factor for the landmarks.
colorClass	BoxColor
	A temporary variable.
colorClass	bridgeColor
	A temporary variable.
bool	active [7]
	Activation array for the several specialists.
int	postThreshold
	Threshold for the edge detection of the post scan.

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Detailed Description

Default-implementation of RasterStrategy.

Author:

Damien Deom

Hyung Won Koh

Manuel Neubach

Bernd Schmidt

Definition at line 33 of file RDefaultStrategy.h.

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Constructor & Destructor Documentation

RDefaultStrategy::RDefaultStrategy (  RasterImageProcessor &  processor  )

The Constructor. For creation the RasterImageProcessor is needed. Parameters: processor  The image-processor. Definition at line 14 of file RDefaultStrategy.cpp. References boxSpecialist, bridgeSpecialist, enemySpecialist, InFile::exists(), fieldSpecialist, getLocation(), idText, RasterImageProcessor::marginX, RasterImageProcessor::marginY, OUTPUT, postThreshold, InStream< InFile, InBinary >::read(), RasterImageProcessor::setSpecialist(), and REdgeDetection::threshold.

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RDefaultStrategy::~RDefaultStrategy (   )  [virtual]

Destructor. Definition at line 87 of file RDefaultStrategy.cpp. References boxSpecialist, bridgeSpecialist, enemySpecialist, and fieldSpecialist.

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Member Function Documentation

void RDefaultStrategy::execute (   )  [virtual]

Executes the strategy. Implements RasterStrategy. Definition at line 132 of file RDefaultStrategy.cpp. References postProcessing(), and preScan().

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void RDefaultStrategy::init (   )  [virtual]

Initializes the strategy and its specialists. Implements RasterStrategy. Definition at line 96 of file RDefaultStrategy.cpp. References boxSpecialist, bridgeSpecialist, Image::cameraInfo, ImageProcessorInterfaces::cameraMatrix, enemySpecialist, fieldSpecialist, ImageProcessorInterfaces::image, RBridgeSpecialist::init(), REnemySpecialist::init(), BoxSpecialist::init(), RFieldSpecialist::init(), RBallSpecialist2::init(), CameraMatrix::isValid, RasterSpecialist::preScanNeeded, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

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void RDefaultStrategy::preScan (   )  [private]

Executes the pre-scan. Definition at line 142 of file RDefaultStrategy.cpp. References Geometry::Line::base, BoxColor, boxSpecialist, bridgeColor, bridgeSpecialist, checkBall(), checkBox(), checkBridge(), checkPlayer(), checkRedLine(), currentColor, Geometry::Line::direction, enemySpecialist, fieldSpecialist, RasterStrategy::getColor(), RasterImageProcessor::horizon, RFieldSpecialist::invokeOnPreScan(), RBridgeSpecialist::invokeOnPreScan(), BoxSpecialist::invokeOnPreScan(), REnemySpecialist::invokeOnPreScan(), RBallSpecialist2::invokeOnPreScan(), lastColor, RasterImageProcessor::marginX, RasterImageProcessor::marginY, noColor, RasterSpecialist::preScanNeeded, Vector2< V >::rotateLeft(), Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y. Referenced by execute().

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void RDefaultStrategy::postScan (   )  [private]

Executes the post-scan. Definition at line 320 of file RDefaultStrategy.cpp. References RasterImageProcessor::addFieldPoint(), RasterImageProcessor::addObstaclePoints(), Geometry::Line::base, boxSpecialist, REdgeDetection::bufferedScan(), Image::cameraInfo, Geometry::clipLineWithRectangleCohenSutherland(), Geometry::Line::direction, DOT, RFieldStateMachine::farPoint(), fieldDSA, REdgeDetection::findStart(), RFieldStateMachine::foundObstacle(), RFieldStateMachine::getEdge(), Geometry::getIntersectionOfLines(), RFieldStateMachine::getObstacleType(), RFieldStateMachine::getType(), RasterImageProcessor::horizon, ImageProcessorInterfaces::image, BoxSpecialist::invokeOnPostScan(), RFieldStateMachine::nearPoint(), point, RFieldStateMachine::reset(), CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, REdgeDetection::setDirection(), RFieldStateMachine::size(), REdgeDetection::threshold, RFieldStateMachine::update(), Vector2< int >::x, Vector2< V >::x, Vector2< double >::x, Vector2< int >::y, Vector2< V >::y, and Vector2< double >::y.

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void RDefaultStrategy::postProcessing (   )  [private]

Executes the post-processing. Definition at line 122 of file RDefaultStrategy.cpp. References boxSpecialist, bridgeSpecialist, enemySpecialist, RFieldSpecialist::executePostProcessing(), RBridgeSpecialist::executePostProcessing(), BoxSpecialist::executePostProcessing(), REnemySpecialist::executePostProcessing(), RBallSpecialist2::executePostProcessing(), and fieldSpecialist. Referenced by execute().

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void RDefaultStrategy::checkBall (  int  x, int  y, int  prePost )  [private]

Helper method for the scans. Parameters: x  x-coordinate y  y-coordinate prePost  pre or post scan Definition at line 477 of file RDefaultStrategy.cpp. References currentColor, RBallSpecialist2::invokeOnPreScan(), and RasterImageProcessor::marginX. Referenced by preScan().

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void RDefaultStrategy::checkField (  int  x, int  y, int  prePost )  [private]

Helper method for the scans. Parameters: x  x-coordinate y  y-coordinate prePost  pre or post scan Definition at line 491 of file RDefaultStrategy.cpp. References currentColor, fieldFactor, fieldSpecialist, RFieldSpecialist::invokeOnPostScan(), and RFieldSpecialist::invokeOnPreScan().

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void RDefaultStrategy::checkPlayer (  int  x, int  y, int  prePost )  [private]

Helper method for the scans. Parameters: x  x-coordinate y  y-coordinate prePost  pre or post scan Definition at line 460 of file RDefaultStrategy.cpp. References currentColor, enemySpecialist, REnemySpecialist::invokeOnPreScan(), and RasterImageProcessor::marginX. Referenced by preScan().

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void RDefaultStrategy::checkBox (  int  x, int  y, int  prePost )  [private]

Helper method for the scans. Parameters: x  x-coordinate y  y-coordinate prePost  pre or post scan Definition at line 513 of file RDefaultStrategy.cpp. References BoxColor, boxSpecialist, currentColor, BoxSpecialist::invokeOnPreScan(), RasterImageProcessor::marginX, and noColor. Referenced by preScan().

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void RDefaultStrategy::checkBridge (  int  x, int  y )  [private]

Helper method for the scans. Parameters: x  x-coordinate y  y-coordinate Definition at line 553 of file RDefaultStrategy.cpp. References bridgeColor, bridgeSpecialist, currentColor, RBridgeSpecialist::invokeOnPreScan(), RasterImageProcessor::marginX, and noColor. Referenced by preScan().

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void RDefaultStrategy::checkRedLine (  int  x, int  y )  [private]

Helper method for the scans. Parameters: x  x-coordinate y  y-coordinate Definition at line 538 of file RDefaultStrategy.cpp. References currentColor, fieldSpecialist, and RFieldSpecialist::invokeOnPreScan(). Referenced by preScan().

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Member Data Documentation

RBallSpecialist2* RDefaultStrategy::ballSpecialist [private]

A pointer to the ball specialist. Definition at line 93 of file RDefaultStrategy.h.

RFieldSpecialist* RDefaultStrategy::fieldSpecialist [private]

A pointer to the field specialist (for Open Challenge 04). Definition at line 95 of file RDefaultStrategy.h. Referenced by checkField(), checkRedLine(), init(), postProcessing(), preScan(), RDefaultStrategy(), and ~RDefaultStrategy().

REnemySpecialist* RDefaultStrategy::enemySpecialist [private]

A pointer to the player specialist. Definition at line 97 of file RDefaultStrategy.h. Referenced by checkPlayer(), init(), postProcessing(), preScan(), RDefaultStrategy(), and ~RDefaultStrategy().

BoxSpecialist* RDefaultStrategy::boxSpecialist [private]

A pointer to the box specialist (detects landmarks and goals). Definition at line 99 of file RDefaultStrategy.h. Referenced by checkBox(), init(), postProcessing(), postScan(), preScan(), RDefaultStrategy(), and ~RDefaultStrategy().

RBridgeSpecialist* RDefaultStrategy::bridgeSpecialist [private]

A pointer to the bridge specialist (for Open Challenge 04). Definition at line 101 of file RDefaultStrategy.h. Referenced by checkBridge(), init(), postProcessing(), preScan(), RDefaultStrategy(), and ~RDefaultStrategy().

REdgeDetection RDefaultStrategy::edgeScanner [private]

The edge detector. Definition at line 103 of file RDefaultStrategy.h.

RFieldStateMachine RDefaultStrategy::fieldDSA [private]

The point state machine. Definition at line 105 of file RDefaultStrategy.h. Referenced by postScan().

colorClass RDefaultStrategy::lastColor [private]

The color of the previous pixel. Definition at line 107 of file RDefaultStrategy.h. Referenced by preScan().

colorClass RDefaultStrategy::currentColor [private]

The current color. Definition at line 109 of file RDefaultStrategy.h. Referenced by checkBall(), checkBox(), checkBridge(), checkField(), checkPlayer(), checkRedLine(), and preScan().

int RDefaultStrategy::width [private]

Width of the image. Definition at line 111 of file RDefaultStrategy.h.

int RDefaultStrategy::height [private]

Height of the image. Definition at line 113 of file RDefaultStrategy.h.

int RDefaultStrategy::ballFactor [private]

The subsampling factor for the ball. Definition at line 115 of file RDefaultStrategy.h.

int RDefaultStrategy::fieldFactor [private]

The subsampling factor for the field. Definition at line 117 of file RDefaultStrategy.h. Referenced by checkField().

int RDefaultStrategy::goalFactor [private]

The subsampling factor for the goals. Definition at line 119 of file RDefaultStrategy.h.

int RDefaultStrategy::playerFactor [private]

The subsampling factor for the players. Definition at line 121 of file RDefaultStrategy.h.

int RDefaultStrategy::lmFactor [private]

The subsampling factor for the landmarks. Definition at line 123 of file RDefaultStrategy.h.

colorClass RDefaultStrategy::BoxColor [private]

A temporary variable. Definition at line 125 of file RDefaultStrategy.h. Referenced by checkBox(), and preScan().

colorClass RDefaultStrategy::bridgeColor [private]

A temporary variable. Definition at line 127 of file RDefaultStrategy.h. Referenced by checkBridge(), and preScan().

bool RDefaultStrategy::active[7] [private]

Activation array for the several specialists. Definition at line 129 of file RDefaultStrategy.h.

int RDefaultStrategy::postThreshold [private]

Threshold for the edge detection of the post scan. Definition at line 131 of file RDefaultStrategy.h. Referenced by RDefaultStrategy().

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The documentation for this class was generated from the following files:

• Modules/ImageProcessor/RasterImageProcessor/RDefaultStrategy.h
• Modules/ImageProcessor/RasterImageProcessor/RDefaultStrategy.cpp

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