vision.h

00001 
00002 /***************************************************************************
00003  *  vision.h - Vision aspect for Fawkes
00004  *
00005  *  Created: Tue May 29 14:47:03 2007
00006  *  Copyright  2006-2007  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version. A runtime exception applies to
00014  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00015  *
00016  *  This program is distributed in the hope that it will be useful,
00017  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00018  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00019  *  GNU Library General Public License for more details.
00020  *
00021  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00022  */
00023 
00024 #ifndef __ASPECT_VISION_H_
00025 #define __ASPECT_VISION_H_
00026 
00027 #include <fvutils/base/vision_master.h>
00028 
00029 namespace fawkes {
00030 
00031 class VisionAspect
00032 {
00033  public:
00034   /** The operation mode of this vision thread.
00035    * @see Thread
00036    */
00037   typedef enum {
00038     CYCLIC,     /**< cyclic mode */
00039     CONTINUOUS  /**< continuous mode */
00040   } VisionThreadMode;
00041 
00042   VisionAspect(VisionThreadMode mode);
00043   virtual ~VisionAspect();
00044 
00045   void              init_VisionAspect(firevision::VisionMaster *vision_master);
00046   VisionThreadMode  vision_thread_mode();
00047  protected:
00048   /** Vision master */
00049   firevision::VisionMaster *vision_master;
00050  private:
00051   VisionThreadMode __vision_thread_mode;
00052 };
00053 
00054 } // end namespace fawkes
00055 
00056 #endif