Fawkes API  Fawkes Development Version
vision.h
00001 
00002 /***************************************************************************
00003  *  vision.h - Vision aspect for Fawkes
00004  *
00005  *  Created: Tue May 29 14:47:03 2007
00006  *  Copyright  2006-2010  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 <aspect/aspect.h>
00028 #include <fvutils/base/vision_master.h>
00029 
00030 namespace fawkes {
00031 #if 0 /* just to make Emacs auto-indent happy */
00032 }
00033 #endif
00034 
00035 class VisionAspect : public virtual Aspect
00036 {
00037  public:
00038   /** The operation mode of this vision thread.
00039    * @see Thread
00040    */
00041   typedef enum {
00042     CYCLIC,     /**< cyclic mode */
00043     CONTINUOUS  /**< continuous mode */
00044   } VisionThreadMode;
00045 
00046   VisionAspect(VisionThreadMode mode);
00047   virtual ~VisionAspect();
00048 
00049   void              init_VisionAspect(firevision::VisionMaster *vision_master);
00050   VisionThreadMode  vision_thread_mode();
00051  protected:
00052   /** Vision master */
00053   firevision::VisionMaster *vision_master;
00054  private:
00055   VisionThreadMode __vision_thread_mode;
00056 };
00057 
00058 } // end namespace fawkes
00059 
00060 #endif