firevision::ScanlineGrid Class Reference

Scanline Grid. More...

#include <models/scanlines/grid.h>

Inheritance diagram for firevision::ScanlineGrid:

[legend]
List of all members.

Public Member Functions

 ScanlineGrid (unsigned int width, unsigned int height, unsigned int offset_x, unsigned int offset_y, ROI *roi=NULL, bool horizontal_grid=true)
 Constructor.
virtual ~ScanlineGrid ()
 Destructor.
fawkes::point_t operator * ()
 Get the current coordinate.
fawkes::point_toperator-> ()
 Get pointer to current point.
fawkes::point_toperator++ ()
 Postfix ++ operator.
fawkes::point_toperator++ (int)
 Prefix ++ operator.
bool finished ()
 Check if all desired points have been processed.
void reset ()
 Reset model.
const char * get_name ()
 Get name of scanline model.
unsigned int get_margin ()
 Get margin around points.
virtual void set_robot_pose (float x, float y, float ori)
 Set the robot's pose.
virtual void set_pan_tilt (float pan, float tilt)
 Set camera's pan/tilt values.
virtual void set_roi (ROI *roi=NULL)
 Set the region-of-interest.
void setDimensions (unsigned int width, unsigned int height, ROI *roi=NULL)
 Set dimensions.
void setOffset (unsigned int offset_x, unsigned int offset_y)
 Set offset.
void setGridParams (unsigned int width, unsigned int height, unsigned int offset_x, unsigned int offset_y, ROI *roi=NULL, bool horizontal_grid=true)
 Set all grid parameters.

Detailed Description

Scanline Grid.

A grid as scanline points. The crossings of the lines are the scanline points.

Definition at line 36 of file grid.h.


Constructor & Destructor Documentation

firevision::ScanlineGrid::ScanlineGrid ( unsigned int  width,
unsigned int  height,
unsigned int  offset_x,
unsigned int  offset_y,
ROI roi = NULL,
bool  horizontal_grid = true 
)

Constructor.

Parameters:
width width of grid
height height of grid
offset_x x offset between lines
offset_y y offset between lines
roi the grid will only be calculated within the roi (if NULL the roi will be from 0,0 to width,height). The object will be deleted by ScanlineGrid!
horizontal_grid if true x will be increased before y

Definition at line 52 of file grid.cpp.

References setGridParams().

firevision::ScanlineGrid::~ScanlineGrid (  )  [virtual]

Destructor.

Definition at line 65 of file grid.cpp.


Member Function Documentation

bool firevision::ScanlineGrid::finished (  )  [virtual]

Check if all desired points have been processed.

Returns:
true if all pixels that the model defines have been iterated.

Implements firevision::ScanlineModel.

Definition at line 147 of file grid.cpp.

unsigned int firevision::ScanlineGrid::get_margin (  )  [virtual]

Get margin around points.

Models that do not use margins shall return zero. It shall be guaranteed that in this margin region around a point there is no other point that has been or will be returned in a full iteration.

Returns:
margin around a point.

Implements firevision::ScanlineModel.

Definition at line 169 of file grid.cpp.

const char * firevision::ScanlineGrid::get_name (  )  [virtual]

Get name of scanline model.

Returns:
name of scanline model.

Implements firevision::ScanlineModel.

Definition at line 162 of file grid.cpp.

point_t firevision::ScanlineGrid::operator * (  )  [virtual]

Get the current coordinate.

Returns:
current point in image that is shall be processed.

Implements firevision::ScanlineModel.

Definition at line 74 of file grid.cpp.

point_t * firevision::ScanlineGrid::operator++ ( int   )  [virtual]

Prefix ++ operator.

Advances to the next point but returns the old point.

Returns:
pointer to next point

Implements firevision::ScanlineModel.

Definition at line 139 of file grid.cpp.

point_t * firevision::ScanlineGrid::operator++ (  )  [virtual]

Postfix ++ operator.

Advances to the next point and returns the new point.

Returns:
pointer to new point

Implements firevision::ScanlineModel.

Definition at line 132 of file grid.cpp.

point_t * firevision::ScanlineGrid::operator-> (  )  [virtual]

Get pointer to current point.

Returns:
pointer to current point
See also:
operator*()

Implements firevision::ScanlineModel.

Definition at line 80 of file grid.cpp.

void firevision::ScanlineGrid::reset (  )  [virtual]

Reset model.

Resets the set of processed points.

Implements firevision::ScanlineModel.

Definition at line 153 of file grid.cpp.

References firevision::ROI::start, fawkes::point_t::x, and fawkes::point_t::y.

Referenced by set_roi(), and setOffset().

void firevision::ScanlineGrid::set_pan_tilt ( float  pan,
float  tilt 
) [virtual]

Set camera's pan/tilt values.

Parameters:
pan camera's current pan
tilt camera's current tilt

Implements firevision::ScanlineModel.

Definition at line 183 of file grid.cpp.

void firevision::ScanlineGrid::set_robot_pose ( float  x,
float  y,
float  ori 
) [virtual]

Set the robot's pose.

Parameters:
x robot's x coordinate on field in meters
y robot's y coordinate on field in meters
ori robot's orientation. Looking towards the opponent goal is zero rad, with positive values pointing to the right, negative to the left.

Implements firevision::ScanlineModel.

Definition at line 176 of file grid.cpp.

void firevision::ScanlineGrid::set_roi ( ROI roi = NULL  )  [virtual]

Set the region-of-interest.

If not NULL the scanlines gets only calculated within the ROI

Parameters:
roi the region where scanlines should be calculated

Reimplemented from firevision::ScanlineModel.

Definition at line 189 of file grid.cpp.

References firevision::ROI::height, firevision::ROI::image_height, firevision::ROI::image_width, reset(), firevision::ROI::start, firevision::ROI::width, fawkes::point_t::x, and fawkes::point_t::y.

Referenced by setDimensions().

void firevision::ScanlineGrid::setDimensions ( unsigned int  width,
unsigned int  height,
ROI roi = NULL 
)

Set dimensions.

Set width and height of scanline grid. Implicitly resets the grid.

Parameters:
width width
height height
roi the grid will only be calculated within the roi (if NULL the roi will be from 0,0 to width,height). The object will be deleted by ScanlineGrid!

Definition at line 219 of file grid.cpp.

References set_roi().

Referenced by setGridParams().

void firevision::ScanlineGrid::setGridParams ( unsigned int  width,
unsigned int  height,
unsigned int  offset_x,
unsigned int  offset_y,
ROI roi = NULL,
bool  horizontal_grid = true 
)

Set all grid parameters.

Set width, height, X and Y offset by which the pointer in the grid is advanced. Implicitly resets the grid.

Parameters:
width width
height height
offset_x offset_x
offset_y offset_y
roi the grid will only be calculated within the roi (if NULL the roi will be from 0,0 to width,height). The object will be deleted by ScanlineGrid!
horizontal_grid if true x will be increased before y

Definition at line 256 of file grid.cpp.

References setDimensions(), and setOffset().

Referenced by ScanlineGrid().

void firevision::ScanlineGrid::setOffset ( unsigned int  offset_x,
unsigned int  offset_y 
)

Set offset.

Set X and Y offset by which the pointer in the grid is advanced. Implicitly resets the grid.

Parameters:
offset_x offset_x
offset_y offset_y

Definition at line 234 of file grid.cpp.

References reset().

Referenced by setGridParams().


The documentation for this class was generated from the following files:
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