FeatExtrTask.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP 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 3 of the License, or
// (at your option) any later version.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------






#ifndef __FEAT_EXTR_TASK_H_
#define __FEAT_EXTR_TASK_H_

#include <Task.h>
#include <Resource.h>
#include <MobileRob.h>
#include <ProtrusionExtr.h>
#include <EdgeExtr.h>
#include <SharedMem.h>
#include <CommonOptions.h>
#ifndef MIP_PLATFORM_ARM
#include <DraWin.h>
#endif

using namespace MipAlgorithms;
using namespace MipResources;

namespace MipTasks{
 
 /* @{ */
 
 class FeatExtrOptions : public Options {
  public:
   DecimalOption* discThreshold;
   DecimalOption* minRobWidth;
   DecimalOption* maxRobWidth;
   DecimalOption* offset;
   DecimalOption* sameFeatThreshold;
   DecimalOption* addNoiseRange;
   DecimalOption* addNoiseBear;
   IntOption* doCornerExtraction;
   IntOption* doProtrusionExtraction;
   
   BoolOption *saveLaserMeas;
   
   FeatExtrOptions();

   string getObjectName() const {
    return "FeatExtrOptions";
   }
 };
 
 
 class FeatExtrSharedMem : public SharedMem{
  public:
   void initSharedMem();
   
   void setMyProtrusions(PosiFeatures &protrusions, MotionModuleTState &protrusionsTState);
   
   void setMyCorners(PosiFeatures &corners, MotionModuleTState &cornersTState);
   
   bool printFeat();
 };
 
 
 class FeatExtrTask : public Task{
  private:
   static const TaskPlate _plate = FEA_TASK;
   static const long int  _maxDurSec  = 0,      _maxDurUsec = 100000;
   static const long int  _maxSamplPeriodSec = 0, _maxSamplPeriodUsec = 500000;
   static const long int  _minSamplPeriodSec = 0, _minSamplPeriodUsec = 50000;
 
   ProtrusionsExtr* _protrusionExtractor;
   ProtrusionsExtr* _targetExtractor;
   PosiEdgeExtr* _cornerExtractor;
   MobileRob*  _mobileRob;
   FeatExtrSharedMem* _sharedMem;
   
 #ifndef MIP_PLATFORM_ARM
   DraWin*      _draWin;   
   unsigned int _drawList; 
   bool         dwOn;      
 #endif
 
   bool scanOn;
   Scan currScan;
   
   Timer lifeTimer;
   
   FeatExtrOptions options;
   fstream _saveTState;
   fstream _saveTStateTime;
   fstream _saveLaserMeas;
   Time t;
   
   ofstream *outputFile; 
   
  public:
   FeatExtrTask(ResourcePointers resources,int argc, const char* argv[]);
   ~FeatExtrTask(){
    //_saveTState.close();
    //_saveLaserMeas.close();
    cout << "destr FeatExtrTask" << endl;
   }
   TaskPlate getPlate() const {
    return _plate;
   }
   Time getMaxDuration(){
    return Time(_maxDurSec,_maxDurUsec);
   }
   Time getMaxSamplPeriod(){
    return Time(_maxSamplPeriodSec,_maxSamplPeriodUsec);
   }
   Time getMinSamplPeriod(){
    return Time(_minSamplPeriodSec,_minSamplPeriodUsec);
   }
   
   TaskOutputs run();
   
 };
 
 /* @} */
 
};// end namespace MipTasks

#endif