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BaseData.h Go to the documentation of this file. //-*-c++-*- #ifndef _BASEDATA_H_ #define _BASEDATA_H_ #include <vector> #include <iostream> #include <string> #include "Wireless/Socket.h" // needed for sout #include "Macrodefs.h" #include "Measures.h" #include "Point.h" #include "Shared/newmat/newmat.h" #include "Motion/Kinematics.h" #include "ShapeTypes.h" #include "Vision/colors.h" namespace DualCoding { class Point; class PointData; class SketchSpace; template<typename T> class Sketch; class ShapeRoot; class SketchDataRoot; template<typename T> class Shape; class BoundingBox { public: coordinate_t xmin, ymin, xmax, ymax; BoundingBox(coordinate_t _xmin, coordinate_t _ymin, coordinate_t _xmax, coordinate_t _ymax) : xmin(_xmin), ymin(_ymin), xmax(_xmax), ymax(_ymax) {} BoundingBox() : xmin(0), ymin(0), xmax(0), ymax(0) {} BoundingBox(const Point &p) : xmin(p.coordX()), ymin(p.coordY()), xmax(p.coordX()), ymax(p.coordY()) {} BoundingBox(const BoundingBox &b1, const BoundingBox &b2); BoundingBox(const std::vector<ShapeRoot> &vec); }; std::ostream& operator<< (std::ostream& out, const BoundingBox &b); class BaseData { public: friend class ShapeRoot; friend class ShapeSpace; protected: ShapeSpace *space; std::string name; ShapeType_t type; int id; int parentId; int lastMatchId; //!< Id of the shape in the preceding space that gave rise to or was matched to this one. int refcount; bool viewable; rgb color_rgb; int confidence; //!< Confidence that this shape exists and isn't noise. bool mobile; //!< True if this shape can move in the world Sketch<bool>* rendering_sketch; public: //! Constructor BaseData(ShapeSpace& _space, ShapeType_t typeval, int _parentId=0); //! Copy constructor BaseData(const BaseData& otherData); // BaseData(ShapeType_t typeval, int _parentID=0); //! Destructor. virtual ~BaseData(void); virtual BaseData* clone(void) const = 0; ShapeSpace& getSpace() const { return *space; } ReferenceFrameType_t getRefFrameType() const; int getId() const { return id; } int getParentId() const { return parentId; } void setParentId(int _pid) { parentId = _pid; } bool isViewable() const { return viewable; } void setViewable(bool _viewable) { viewable = _viewable; } int getViewableId() const { if ( viewable ) return id; else return parentId; } void inheritFrom(const BaseData &parent); void inheritFrom(const ShapeRoot &parent); void inheritFrom(const SketchDataRoot &parent); int getLastMatchId() const { return lastMatchId; } void setLastMatchId(int _lmid) { lastMatchId = _lmid; } const std::string& getName() const { return name; } void setName(const std::string& _name) { name = _name; } void V(std::string const &_name=""); void N(std::string const &_name=""); virtual BoundingBox getBoundingBox() const { return BoundingBox(); } //! Confidence. //@{ virtual int getConfidence() const { return confidence; } //!< returns confidence of Data. Reimpletemnted in PolygonData void increaseConfidence(int n=1, int maxConfidence=-1); void increaseConfidence(const BaseData& other, int maxConfidence=-1); void increaseConfidence(const ShapeRoot& other, int maxConfidence=-1); void decreaseConfidence() { confidence--; } void setConfidence(const BaseData& other) { confidence = other.getConfidence(); } //@} //! Type. //@{ //! Get the shape type. virtual ShapeType_t getType() const=0; const char* getTypeName() const; //! Test the shape type. bool isType(ShapeType_t this_type) const; //! Test if shape types are the same. bool isSameTypeAs(const ShapeRoot& other) const; //@} //! Color. //@{ //! Get the color. rgb getColor() const { return color_rgb; } //! Set shape and rendering sketch color. //@{ void setColor(std::string const &color_name); void setColor(rgb new_color); //@} //! Test if shape colors are the same. bool isSameColorAs(const ShapeRoot& other) const; //@} //! Shapes match if their coordinates agree. DOES NOT Assume type and color already checked. virtual bool isMatchFor(const ShapeRoot& other) const = 0; //! Combine two shapes by taking weighted average depending on confidence level. // virtual void mergeWith(const ShapeRoot& other) = 0; //! Shapes are admissible to the local map if they're large enough not to be noise. virtual bool isAdmissible() const { return true; } //! Update shape parameters after matching to another shape. virtual bool updateParams(const ShapeRoot& other, bool forceUpdate=false) = 0; //! returns if a point is inside the shape or not. Reimplemented by EllipseData, SphereData, PolygonData virtual bool isInside(const Point&) const { return false; } virtual unsigned short getDimension() const = 0; //! Mobility //@{ bool isMobile() const; void setMobile(bool mobility); //@} void deleteRendering(); //! return the centroid of the shape in point format virtual Point getCentroid() const=0; virtual Shape<PointData> getCentroidPtShape() const; //! Prints information about this shape. virtual void printParams() const=0; //! Apply a transformation matrix to the shape. virtual void applyTransform(const NEWMAT::Matrix& Tmat)=0; //! Project to ground plane using given matrix virtual void projectToGround(const NEWMAT::Matrix& camToBase, const NEWMAT::ColumnVector& groundplane)=0; //! Update properties of the shape derived from endpoints or other basic parameters. // virtual void update_derived_properties() {} //! Rendering. //@{ //! Returns a pointer to the rendering associated with the ShapeRoot object. //! If no such rendering exists, it is created. Sketch<bool>& getRendering(); //! Render into a sketch space. virtual Sketch<bool>* render() const=0; //@} //! Copy operator. Assumes "&other =? this" check is done by the sub class calling this operator BaseData& operator=(const BaseData& other); }; #define DATASTUFF_H(T) \ virtual ShapeType_t getType() const { return getStaticType(); } \ virtual BaseData* clone() const; \ Shape<T> copy() const; #define DATASTUFF_CC(T) \ BaseData* T::clone() const { return new T(*this); } \ Shape<T> T::copy() const { return Shape<T>((T*)clone()); } } // namespace #endif

DualCoding 3.0beta

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