// 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