Lookout Class Reference

The Lookout accepts LookoutRequests to move the head and collect sensor information. More...

#include <Lookout.h>

Inheritance diagram for Lookout:

Detailed Description

The Lookout accepts LookoutRequests to move the head and collect sensor information.

HeadMotionType can be none (user will point the head himself), pointAt, scan, track, or search. The data collected can be an image or distance reading, or for scan operations, it can be a list of locations where certain VisionObject or VisionRegion streams reported hits.

Definition at line 25 of file Lookout.h.

List of all members.

Public Member Functions
	Lookout ()
	Constructor.
virtual void	doStart ()
virtual void	doStop ()
virtual void	doEvent ()
virtual std::string	getDescription () const
virtual unsigned int	executeRequest (const LookoutRequest &)
bool	busy ()
void	stopTrack ()
void	moveHeadToPoint ()
void	relax ()
	Inactivates all Lookout motion commands; called when MapBuilder finishes.
Static Public Member Functions
static std::string	getClassDescription ()
static std::vector < DualCoding::Point >	groundSearchPoints ()
	returns a vector of points for searching the ground around the robot
static Point	findLocationFor (const float normX, const float normY)
Static Public Attributes
static const unsigned int	invalid_LO_ID = (unsigned int)-1
Protected Types
enum	TrackerStates { inactive, moveToAcquire, tracking, searching, centering, lost }
enum	LookoutTimerSourceId_t { settle_timer = 1, sample_timer, lost_timer, scan_timer }
Protected Member Functions
virtual void	executeRequest ()
virtual void	requestComplete (bool result=true)
template<class T >
void	pushRequest (const LookoutRequest &req)


void	processPointAtEvent (const EventBase &event)
bool	findPixelModes ()


void	setupTrack ()
void	processTrackEvent (const EventBase &event)
Protected Attributes
std::vector< std::map< uchar, unsigned int > >	pixelHistograms
std::priority_queue< float >	distanceSamples
MC_ID	pointer_id
	id for HeadPointerMC for pointing the camera
MC_ID	posture_id
	id for PostureMC for pointing the IR sensors
MC_ID	sequence_id
	id for MotionSequenceMC for scanning
std::queue< LookoutRequest * >	requests
	queue of pending LookoutRequest instances, including the current request
LookoutRequest *	curReq
	pointer to request currently being executed
LookoutPointRequest *	curPAR
	current Point-At request (same object as curReq)
bool	successSave
enum DualCoding::Lookout::TrackerStates	trackerState
unsigned int	idCounter
Private Member Functions
Lookout &	operator= (const Lookout &)
	Lookout (const Lookout &)

void	setupScan ()
void	triggerScanMotionSequence ()
void	processScanEvent (const EventBase &event)
void	scanAlongLine (const Point &start, const Point &end)
void	scanAlongPolygon (const std::vector< Point > &vertices, const bool closed=false)
void	scanArea (const Point &topLeft, const Point &topRight, const Point &bottomLeft, const Point &bottomRight)
void	storeVisionRegionDataTo (std::vector< Point > &, const std::set< color_index > &, int)
static Point	findLocationFor (const VisionObjectEvent &visev)
static Point	findLocationFor (const CMVision::region *reg)

void	setupSearch ()
void	processSearchEvent (const EventBase &event)
void	triggerSearchMotionSequence ()
static void	searchAt (HeadPointerMC &hpmc_temp, std::vector< float > &jointvals, const Point &target)