// 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 #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