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ProjectInterface.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_ProjectInterface_h_ #define INCLUDED_ProjectInterface_h_ class BehaviorBase; class FilterBankGenerator; class SegmentedColorGenerator; class RLEGenerator; class RegionGenerator; class JPEGGenerator; //! A collection of the global variables which should be set by a project to use the Tekkotsu framework /*! You don't necessarily need to define all of these, but if you want * to use the built in demo behaviors, you may need to set some * values in here appropriately so that the demos can adapt to your * project's configuration. * * Any references should be instantiated in your own project files * (since you can't reassign a reference) * * Any pointers are instantiated in ProjectInterface.cc and * initialized to NULL. You can reassign them as you see fit. * * Currently, all required members are references (so they can't be * set to NULL and you'll get errors if you leave them out) and all * optional settings are pointers so you can ignore them if you want. */ namespace ProjectInterface { //! REQUIRED: you must define a behavior which will be started when the boot is complete /*! This is similar in idea to the Linux init process - it should do * some basic initialization and then launch any other behavior you * would like to run at boot. * To avoid static initialization ordering issues, this is a function * which will be called after environment setup is complete, which * should then return a behavior to use as the startup behavior. * This behavior should not be reference counted, and probably makes * most sense to implement as a static local variable of the function. * (Each call should return the same behavior) */ BehaviorBase& startupBehavior(); //! A collection of the various stages of vision processing. None of these are absolutely required, but are needed to run included demo behaviors and TekkotsuMon modules /*! @name Vision Setup */ //! pointer to generator extern FilterBankGenerator * defRawCameraGenerator; extern FilterBankGenerator * defInterleavedYUVGenerator; extern JPEGGenerator * defColorJPEGGenerator; extern JPEGGenerator * defGrayscaleJPEGGenerator; extern SegmentedColorGenerator * defSegmentedColorGenerator; extern RLEGenerator * defRLEGenerator; extern RegionGenerator * defRegionGenerator; //@} //! Default source IDs for the various generators; These are given default values, but you can reassign them if you like. /*! @name Vision SIDs */ //! source id for event extern unsigned int visRawCameraSID; extern unsigned int visInterleaveSID; extern unsigned int visColorJPEGSID; extern unsigned int visGrayscaleJPEGSID; extern unsigned int visSegmentSID; extern unsigned int visRLESID; extern unsigned int visRegionSID; extern unsigned int visPinkBallSID; extern unsigned int visBlueBallSID; extern unsigned int visHandSID; //@} //! Allows you to request a particular layer abstractly - this isn't used by the framework, just a suggestion for clarity /*! @name Layer Resolutions */ extern unsigned int doubleLayer; //!< ERS-2xx: 352*288; ERS-7 416*320 (requires non-trivial computation) extern unsigned int fullLayer; //!< ERS-2xx: 176*144; ERS-7 208*160 extern unsigned int halfLayer; //!< ERS-2xx: 88*72; ERS-7 104*80 extern unsigned int quarterLayer; //!< ERS-2xx: 44*36; ERS-7 52*40 extern unsigned int eighthLayer; //!< ERS-2xx: 22*18; ERS-7 26*20 (simply a bigger interleave referencing quarterLayer) extern unsigned int sixteenthLayer;//!< ERS-2xx: 11*9; ERS-7 13*10 (simply a bigger interleave referencing quarterLayer) //@} } /*! @file * @brief Defines ProjectInterface namespace - a collection of the global variables which should be set by a project to use the Tekkotsu framework * @author ejt (Creator) * * $Author: ejt $ * $Name: tekkotsu-2_4 $ * $Revision: 1.7 $ * $State: Exp $ * $Date: 2005/06/01 05:47:49 $ */ #endif

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