Fawkes API
Fawkes Development Version
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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