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+// robert - programme du robot 2005
+//
+// Copyright (C) 2005 Olivier Gaillard
+//
+// Robot APB Team/Efrei 2005.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+#ifndef ovision_h
+#define ovision_h
+
+#include "oconfig.hh"
+#include "segmTable.hh"
+#include "group.hh"
+#include "magnifier.hh"
+#include "colorTable.hh"
+#include "space.hh"
+//#include "map.hh"
+//#include "socket/socketClient.hh"
+#include "video4linux/video4linux.hh"
+#include "image/image.hh"
+
+
+class OVision
+{
+ OConfig *oconfig_;
+ Img *img_;
+ ColorTable *colorTab_;
+ SegmTable *segm_;
+ Group *group_;
+ Magnifier *mag_;
+// Space *space_;
+// Map *map_;
+ // SocketClient *socket_;
+ Video4Linux *v4l_;
+ /// Nombre d'images déjà traitées
+ int step_;
+ public:
+ /// Constructeur
+ OVision (bool useSocket = false);
+ /// Destructeur
+ ~OVision (void);
+ /// Iniialisatoin de toutes les classes
+ void init ();
+ /// Prends une image avec la caméra
+ void takeShoot ();
+ /// Analyse une image
+ void update ();
+ /// Envoie l'image par socket
+ void sendImg ();
+ /// Affiche d'info sur l'update
+ void showInfo () const;
+ /// Renvoie la position
+ bool getBall (double &x, double &y) const;
+ /// Renvoie le pointeur sur Video4Linux
+ Video4Linux &getVideo4Linux () const;
+};
+
+#endif // ovision_h