Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * types.h - Definition of simple types 00004 * 00005 * Generated: Sun May 08 22:29:34 2005 00006 * Copyright 2005-2006 Tim Niemueller [www.niemueller.de] 00007 * 2005 Martin Heracles 00008 * 00009 ****************************************************************************/ 00010 00011 /* This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation; either version 2 of the License, or 00014 * (at your option) any later version. A runtime exception applies to 00015 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00016 * 00017 * This program is distributed in the hope that it will be useful, 00018 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00019 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00020 * GNU Library General Public License for more details. 00021 * 00022 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00023 */ 00024 00025 #ifndef __FIREVISION_UTILS_TYPE_H_ 00026 #define __FIREVISION_UTILS_TYPE_H_ 00027 00028 #include <utils/math/types.h> 00029 #include <stdint.h> 00030 00031 namespace firevision { 00032 #if 0 /* just to make Emacs auto-indent happy */ 00033 } 00034 #endif 00035 00036 /** Center in ROI. 00037 * Must be signed since the center of a ball may be out of the ROI. 00038 */ 00039 typedef struct { 00040 float x; /**< x in pixels */ 00041 float y; /**< y in pixels */ 00042 } center_in_roi_t; 00043 00044 /** Orientations. */ 00045 typedef enum { 00046 ORI_HORIZONTAL = 1, /**< horizontal */ 00047 ORI_VERTICAL, /**< vertical */ 00048 ORI_CROSS, /**< cross */ 00049 ORI_DEG_0, /**< 0 degrees */ 00050 ORI_DEG_45, /**< 45 degrees */ 00051 ORI_DEG_90, /**< 90 degrees */ 00052 ORI_DEG_135, /**< 135 degrees */ 00053 ORI_DEG_180, /**< 180 degrees */ 00054 ORI_DEG_225, /**< 225 degrees */ 00055 ORI_DEG_270, /**< 270 degrees */ 00056 ORI_DEG_315, /**< 315 degrees */ 00057 ORI_DEG_360 /**< 360 degrees */ 00058 } orientation_t; 00059 00060 /** The type "color_t" enumerates all colors that are 00061 of interest in the RoboCup-domain */ 00062 typedef enum { 00063 C_ORANGE = 0, /**< Orange. */ 00064 C_BACKGROUND = 1, /**< Background of whatever color. */ 00065 C_MAGENTA = 2, /**< Magenta */ 00066 C_CYAN = 3, /**< Cyan */ 00067 C_BLUE = 4, /**< Blue */ 00068 C_YELLOW = 5, /**< Yellow */ 00069 C_GREEN = 6, /**< Green */ 00070 C_WHITE = 7, /**< White */ 00071 C_RED = 8, /**< Red */ 00072 C_BLACK = 9, /**< Black */ 00073 C_OTHER = 10 /**< Other */ 00074 } color_t; 00075 00076 00077 /** datatype to determine the type of the used coordinate system 00078 * Not that if the robot is positioned at (X=0,Y=0,Ori=0) the robot and world cartesian 00079 * coordinate systems are the same. This can help to remember the robot coord sys. 00080 */ 00081 typedef enum { 00082 COORDSYS_UNKNOWN = 0, /**< Unknown */ 00083 COORDSYS_ROBOT_CART = 1, /**< robot-centric cartesian coordinate system. From 00084 * robot forward is positive X, backward is negative X, 00085 * right is positive Y, left negative Y */ 00086 COORDSYS_WORLD_CART = 2, /**< World cartesian coordinate system, center is at the 00087 * middle of the field, from center to opponent goal is 00088 * positive X, from center to own goal negative X, from 00089 * own goal to opponent goal right wing is positive Y, 00090 * left wing is negative Y. */ 00091 COORDSYS_ROBOT_POLAR = 3, /**< robot-centric polar coordinate system. Front is zero 00092 * rad. */ 00093 COORDSYS_WORLD_POLAR = 4 /**< world polar coordinate system. Center is zero. 00094 * Center to opponent goal is zero rad. */ 00095 } coordsys_type_t; 00096 00097 00098 #pragma pack(push,4) 00099 /** Structure defining a point in a CARTESIAN_3D_FLOAT buffer */ 00100 typedef struct { 00101 float x; /**< X value */ 00102 float y; /**< Y value */ 00103 float z; /**< Z value */ 00104 } pcl_point_t; 00105 00106 /** Structure defining a point in a CARTESIAN_3D_FLOAT_RGB buffer */ 00107 typedef struct { 00108 float x; /**< X value */ 00109 float y; /**< Y value */ 00110 float z; /**< Z value */ 00111 union { 00112 struct { 00113 uint8_t b; /**< B color component value */ 00114 uint8_t g; /**< G color component value */ 00115 uint8_t r; /**< R color component value */ 00116 uint8_t _unused; /**< unused */ 00117 }; 00118 float rgb; /**< Color value as float */ 00119 }; 00120 } pcl_point_xyzrgb_t; 00121 #pragma pack(pop) 00122 00123 } // end namespace firevision 00124 00125 #endif