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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 <math.h>
#include <fstream>

#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_;
    /// Composante principale
    double pcX_, pcY_;
    double pc2X_, pc2Y_;
    /// Enum pos
    enum Pos {up, down, farAway, error}; 
    /// Courbure
    Pos bend_;
    /// Sens 
    Pos feet_;
    /// Position de la bande r�fl�chissante
    Pos reflectBand_;

    std::ofstream *f, *f2;

  public:
    /// Constructeur
    Skittle (Img *img, Segm *segm);
    /// Destructeur
    ~Skittle (void);
    /// Analyse d'une zone
    bool analyse (Zone &zone, const std::vector<Zone> &listReflectBand); 
    /// Affiche les infos sur la quille
    void show () const;
    /// Recup�re les donn�es
    inline void get (Pos &standing, double &pcX, double &pcY) 
      {standing = bend_; pcX = pcX_; pcY = pcY_;}

  private:
    /// Recherche de la composante principale 
    void pca (const Zone &zone);
    /// Recherche de du c�t� de la courbure
    Pos bend (const Zone &zone);
    /// Utilis� pour la recherche de la courbure, cherche le point le plus haut
    int climb (const int startX, const int startY, const int color);
    /// V�rifie qu'un catadiopre est � proximit�
    Pos whereIsReflectBand (const Zone &zone, const std::vector<Zone> &listReflectBand);
    /// Cherche les vis de la quille
    Pos whereIsBottom (const Zone &zone);
    /// Test si la zone contient les vis
    double isBottom (const Zone &zone, const Pos pos);
    /// Verifie la coh�rence de la taille de la quille
    int checkArea (const Zone &zone);
    /// Distance cart�sienne
    inline const double dist (const double x1, const double x2, const double y1, const double y2) 
      {return sqrt (x1*x2 + y1*y2);}
    /// Distance orthogonale � une droite
    inline const double orthoDist (const double v1x, const double v1y, 
				   const double v2x, const double v2y) 
      {return ((v1x*v2y - v2x*v1y) / sqrt (v2x*v2x + v2y*v2y));}
};

#endif // skittle_h