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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 skittle_h
+#define skittle_h
+
+#include <vector>
+
+#include "segm.hh"
+#include "oconfig.hh"
+#include "group.hh"
+#include "img.hh"
+
+/// Reconnaissance des objets quilles
+class Skittle
+{
+ /// Classe segmentation
+ Segm *segm_;
+ /// Classe oconfig
+ OConfig *oconfig_;
+ /// Classe img
+ Img *img_;
+
+ public:
+ /// Constructeur
+ Skittle (Img *img, Segm *segm);
+ /// Destructeur
+ ~Skittle (void);
+ /// Analyse d'une zone
+ bool analyse (Zone &zone);
+ /// Recherche de la composante principale
+ void pca (Zone &zone);
+ /// Recherche de du côté de la courbure
+ enum BendType {up, down, error};
+ BendType bend (Zone &zone);
+ /// Utilisé pour la recherche de la courbure, cherche le point le plus haut
+ int climb (const int startX, const int startY, const int color);
+
+ private:
+};
+
+#endif // skittle_h