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LookoutEvents.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_LookoutEvents_h_ #define INCLUDED_LookoutEvents_h_ #include <iostream> #include "EventBase.h" #include "DualCoding/LookoutRequests.h" #include "DualCoding/Sketch.h" #include "Shared/newmat/newmat.h" //! Abstract base class for all Lookout Events class LookoutEvent : public EventBase { public: enum LookoutEventType_t { lookAt, sketch, ir, scan }; virtual LookoutEventType_t getLookoutEventType() const = 0; //{ constructors which take exact same set of arguments as EventBase's and pass them directory to EventBase LookoutEvent() : EventBase() {} LookoutEvent(EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur=0) : EventBase(gid,sid,tid,dur) {} LookoutEvent(EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur, const std::string& n, float mag) : EventBase(gid,sid,tid,dur,n,mag) {} //} }; // This event gives access to transformation matrix from joint specified from LookoutRequest to Base Frame class LookoutPointAtEvent : public LookoutEvent { public: NEWMAT::Matrix toBaseMatrix; virtual LookoutEventType_t getLookoutEventType() const { return lookAt; } LookoutPointAtEvent(const NEWMAT::Matrix& mat) : LookoutEvent(), toBaseMatrix(mat) {} LookoutPointAtEvent(const NEWMAT::Matrix& mat, EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur=0) : LookoutEvent(gid,sid,tid,dur),toBaseMatrix(mat) {} LookoutPointAtEvent(const NEWMAT::Matrix& mat, EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur, const std::string& n, float mag) : LookoutEvent(gid,sid,tid,dur,n,mag),toBaseMatrix(mat) {} virtual EventBase* clone() const { return new LookoutPointAtEvent(*this); } virtual unsigned int getClassTypeID() const { return makeClassTypeID("LOLA"); } virtual std::string getDescription(bool showTypeSpecific=true, unsigned int verbosity=0) const; virtual unsigned int getBinSize() const; virtual unsigned int loadBinaryBuffer(const char buf[], unsigned int len); virtual unsigned int saveBinaryBuffer(char buf[], unsigned int len) const; virtual void loadXML(xmlNode* node); virtual void saveXML(xmlNode * node) const; }; // Event which gives you access to the sketch stored as a result of StoreImage request class LookoutSketchEvent : public LookoutPointAtEvent { protected: DualCoding::Sketch<DualCoding::uchar> *img; // pointer to sketch existing inside lookout's requests queue public: virtual LookoutEventType_t getLookoutEventType() const { return sketch; } LookoutSketchEvent(DualCoding::Sketch<DualCoding::uchar>& _img, const NEWMAT::Matrix& mat) : LookoutPointAtEvent(mat), img(&_img) {} LookoutSketchEvent(DualCoding::Sketch<DualCoding::uchar>& _img, const NEWMAT::Matrix& mat, EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur=0) : LookoutPointAtEvent(mat,gid,sid,tid,dur), img(&_img) {} LookoutSketchEvent(DualCoding::Sketch<DualCoding::uchar>& _img, const NEWMAT::Matrix& mat, EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur, const std::string& n, float mag) : LookoutPointAtEvent(mat,gid,sid,tid,dur,n,mag), img(&_img) {} //! copy constructor (shallow copy) LookoutSketchEvent(const LookoutSketchEvent& lose) : LookoutPointAtEvent(lose), img(lose.img) {} const DualCoding::Sketch<DualCoding::uchar>& getSketch() const { return *img; } virtual EventBase* clone() const { return new LookoutSketchEvent(*this); } // virtual std::string getDescription(bool showTypeSpecific=true, unsigned int verbosity=0) const; private: LookoutSketchEvent& operator=(const LookoutSketchEvent&); }; class LookoutIREvent : public LookoutPointAtEvent { public: float distance; virtual LookoutEventType_t getLookoutEventType() const { return ir; } LookoutIREvent(float dist, const NEWMAT::Matrix& mat) : LookoutPointAtEvent(mat), distance(dist) {} LookoutIREvent(float dist, const NEWMAT::Matrix& mat, EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur=0) : LookoutPointAtEvent(mat, gid,sid,tid,dur), distance(dist) {} LookoutIREvent(float dist, const NEWMAT::Matrix& mat, EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur, const std::string& n, float mag) : LookoutPointAtEvent(mat,gid,sid,tid,dur,n,mag), distance(dist) {} virtual EventBase* clone() const { return new LookoutIREvent(*this); } virtual unsigned int getClassTypeID() const { return makeClassTypeID("LOIR"); } virtual std::string getDescription(bool showTypeSpecific=true, unsigned int verbosity=0) const; virtual unsigned int getBinSize() const; virtual unsigned int loadBinaryBuffer(const char buf[], unsigned int len); virtual unsigned int saveBinaryBuffer(char buf[], unsigned int len) const; virtual void loadXML(xmlNode* node); virtual void saveXML(xmlNode * node) const; }; class LookoutScanEvent : public LookoutEvent { protected: //! pointer to tasks implemented during the scan vector<ScanRequest::Task*> *tasks; public: virtual LookoutEventType_t getLookoutEventType() const { return scan; } LookoutScanEvent(vector<ScanRequest::Task*>& _tasks) : LookoutEvent(), tasks(&_tasks) {} LookoutScanEvent(vector<ScanRequest::Task*>& _tasks, EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur=0) : LookoutEvent(gid,sid,tid,dur), tasks(&_tasks) {} LookoutScanEvent(vector<ScanRequest::Task*>& _tasks, EventGeneratorID_t gid, unsigned int sid, EventTypeID_t tid, unsigned int dur, const std::string& n, float mag) : LookoutEvent(gid,sid,tid,dur,n,mag), tasks(&_tasks) {} //! copy constructor (shallow copy) LookoutScanEvent(const LookoutScanEvent& lose) : LookoutEvent(lose), tasks(lose.tasks) {} //! assignment operator (shallow copy) const LookoutScanEvent& operator=(const LookoutScanEvent& lose) { if (this == &lose) return *this; LookoutEvent::operator=(lose); tasks = lose.tasks; return *this; } virtual EventBase* clone() const { return new LookoutScanEvent(*this); } const vector<ScanRequest::Task*>& getTasks() const { return *tasks; } }; #endif

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