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LookoutRequests.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_LookoutRequests_h_ #define INCLUDED_LookoutRequests_h_ #include "Shared/newmat/newmat.h" #include "Shared/ProjectInterface.h" #include "Shared/WorldState.h" #include "DualCoding.h" #include "VRmixin.h" namespace DualCoding { class LookoutRequest { public: enum HeadMotionType_t { none, pointAt, scan, track }; virtual HeadMotionType_t getHeadMotionType() const = 0; //! Constructor LookoutRequest() : requestID((unsigned int) -1) {} virtual ~LookoutRequest() {} //! Lookout assigns non-zero value when added to queue unsigned int requestID; protected: //! Copy constructor LookoutRequest(const LookoutRequest& req) : requestID(req.requestID) {} private: LookoutRequest& operator=(const LookoutRequest& req); }; // ---------- pointAt requests ---------- class PointAtBase : public LookoutRequest { protected: //! Constructor PointAtBase(unsigned int _joint, unsigned int _duration) : joint(_joint), toBaseMatrix(), duration(_duration) {} //! Copy constructor PointAtBase(const PointAtBase& base) : LookoutRequest(base), joint(base.joint), toBaseMatrix(base.toBaseMatrix), duration(base.duration) {} public: enum PointAtRequestType_t { none, storeImage, measureDist }; virtual PointAtRequestType_t getPointAtType() const = 0;//const { return none; } virtual HeadMotionType_t getHeadMotionType() const { return LookoutRequest::none; } unsigned int joint; //!< frame from which base frame transformation matrix is created, e.g., Camera, IR, etc. NEWMAT::Matrix toBaseMatrix; //!< transformation matrix from joint frame to base frame //! how much time to wait before taking measurements or throw completion event after head reaches gazePt. unsigned int duration; }; class PointAtRequest : virtual public PointAtBase { public: //! Constructor PointAtRequest(const Point& pt, unsigned int dur=1000) : PointAtBase(CameraFrameOffset,dur), gazePt(pt) {}; //! Copy constructor PointAtRequest(const PointAtRequest& req) : PointAtBase(req), gazePt(req.gazePt) {} virtual PointAtRequestType_t getPointAtType() const { return none; } virtual HeadMotionType_t getHeadMotionType() const { return pointAt; } Point gazePt; //!< point to look at in base frame coordinates }; class StoreImageRequest : virtual public PointAtBase { public: //! Constructor StoreImageRequest(Sketch<uchar> (&func)()=VRmixin::sketchFromSeg, unsigned int dur=1000) : PointAtBase(CameraFrameOffset,dur), image(), sketchFunc(func) {}; //! Copy constructor StoreImageRequest(const StoreImageRequest& req) : PointAtBase(req), image(req.image), sketchFunc(req.sketchFunc) {} virtual PointAtRequestType_t getPointAtType() const { return storeImage; } Sketch<uchar> image; //<! stores image here Sketch<uchar> (*sketchFunc)(); //<! function used to generate image private: StoreImageRequest& operator=(const StoreImageRequest&); }; class StoreImageAtRequest : public PointAtRequest, public StoreImageRequest { public: //! Constructor StoreImageAtRequest(const Point& pt, Sketch<uchar> (&func)()=VRmixin::sketchFromSeg, unsigned int dur=1000) : PointAtBase(CameraFrameOffset,dur), PointAtRequest(pt,dur), StoreImageRequest(func,dur) {} //! Copy constructor StoreImageAtRequest(const StoreImageAtRequest& req) : PointAtBase(req), PointAtRequest(req), StoreImageRequest(req) {} virtual PointAtRequestType_t getPointAtType() const { return storeImage; } virtual HeadMotionType_t getHeadMotionType() const { return pointAt; } private: StoreImageAtRequest& operator=(const StoreImageAtRequest&); }; class StoreModeImageRequest : public StoreImageRequest { public: //! Constructor StoreModeImageRequest(unsigned int num, unsigned int _interval=100, Sketch<uchar> (&func)()=VRmixin::sketchFromSeg, unsigned int dur=1000) : PointAtBase(CameraFrameOffset,dur), StoreImageRequest(func,dur), numImages(num), interval(_interval) {}; //! Copy constructor StoreModeImageRequest(const StoreModeImageRequest& req) : PointAtBase(req), StoreImageRequest(req), numImages(req.numImages), interval(req.interval) {} unsigned int numImages; //!< number of image(sketch) over which to take mode unsigned int interval; //!< interval between storing images }; class StoreModeImageAtRequest : public PointAtRequest, public StoreModeImageRequest { public: //! Constructor StoreModeImageAtRequest (const Point& pt, unsigned int num, unsigned int _interval=100, Sketch<uchar> (&func)()=VRmixin::sketchFromSeg, unsigned int dur=1000) : PointAtBase(CameraFrameOffset,dur), PointAtRequest(pt,dur), StoreModeImageRequest(num,_interval,func) {} //! Copy constructor StoreModeImageAtRequest(const StoreModeImageAtRequest& req) : PointAtBase(req), PointAtRequest(req), StoreModeImageRequest(req) {} virtual PointAtRequestType_t getPointAtType() const { return storeImage; } virtual HeadMotionType_t getHeadMotionType() const { return pointAt; } private: StoreModeImageAtRequest& operator=(const StoreModeImageAtRequest&); }; class MeasureDistanceRequest : virtual public PointAtBase { public: //! Constructor MeasureDistanceRequest(unsigned int dur=1000) : PointAtBase( #ifdef TGT_ERS7 NearIRFrameOffset #else IRFrameOffset #endif ,dur), val() {}; //! Copy Constructor MeasureDistanceRequest(const MeasureDistanceRequest& req) : PointAtBase(req), val(req.val) {} virtual PointAtRequestType_t getPointAtType() const { return measureDist; } float val; }; class MeasureDistanceAtRequest : public PointAtRequest, public MeasureDistanceRequest { public: //! Constructor MeasureDistanceAtRequest(const Point& pt, unsigned int dur=1000) : PointAtBase(0/*overwritten by MeasureDistanceRequest constructor*/,dur), PointAtRequest(pt,dur), MeasureDistanceRequest(dur) {}; //! Copy constructor MeasureDistanceAtRequest(const MeasureDistanceAtRequest& req) : PointAtBase(req), PointAtRequest(req), MeasureDistanceRequest(req) {} virtual PointAtRequestType_t getPointAtType() const { return measureDist; } virtual HeadMotionType_t getHeadMotionType() const { return pointAt; } }; //-------------------------------------------- // ------------SCAN requests------------------- class ScanRequest : public LookoutRequest { public: class Task; virtual HeadMotionType_t getHeadMotionType() const { return scan; } enum ScanType_t { line,area }; virtual ScanType_t getScanType() const = 0; vector<Task*> tasks; float scanSpeed; // in rad/msec static const float defSpd; ScanRequest(const ScanRequest& req) : LookoutRequest(req), tasks(), scanSpeed(req.scanSpeed) { for (vector<Task*>::const_iterator it = req.tasks.begin(); it != req.tasks.end(); it++) addTask(**it); } ScanRequest(float _speed=defSpd) : tasks(), scanSpeed(_speed) {} ScanRequest(const Task& _task, float _speed=defSpd) : tasks(), scanSpeed(_speed) { addTask(_task); } void addTask(const Task& t) { switch (t.getTaskType()) { case Task::visReg: tasks.push_back(new VisionRegionTask(*dynamic_cast<const VisionRegionTask*>(&t))); break; case Task::visObj: tasks.push_back(new VisionObjectTask(*dynamic_cast<const VisionObjectTask*>(&t))); break; case Task::ir: tasks.push_back(new IRTask(*dynamic_cast<const IRTask*>(&t))); break; default: return; }; } virtual ~ScanRequest() { for (vector<Task*>::const_iterator it = tasks.begin(); it != tasks.end(); it++) delete *it; } // ------------Tasks may be implemented during scan ------------------- class Task { public: enum taskType_t { none, visObj, visReg, ir }; virtual taskType_t getTaskType() const = 0;// { return none; } virtual ~Task() {} AngPi interval; //!< interval of measurements vector<Point> data; //!< measured data stored here in base frame coordinates Task(const Task& t) : interval(t.interval), data(t.data) {} protected: Task(AngPi _interval) : interval(_interval), data() {} private: Task& operator=(const Task&); }; class IRTask : public Task { public: IRTask(AngPi _interval) : Task(_interval) {} IRTask(const IRTask& t) : Task(t) {} virtual taskType_t getTaskType() const { return ir; } // virtual ~IRTask() { cout << "deleting IRTask " << this << endl; } }; //base class for vision tasks, should not be instantiated class VisionTask : public Task { public: virtual taskType_t getTaskType() const { return none; } set<int> index; VisionTask(const VisionTask& vt) : Task(vt), index(vt.index) {} protected: VisionTask(const set<int>& _index, AngPi _interval) : Task(_interval), index(_index) {} VisionTask(int _index, AngPi _interval) : Task(_interval), index() { index.insert(_index); } }; //! Uses bult-in object detectors (like pink ball detector) via VisionObjectEvent stream class VisionObjectTask : public VisionTask { public: VisionObjectTask(const set<int>& sid, AngPi _interval) : VisionTask(sid,_interval) {} VisionObjectTask(const VisionObjectTask& vot) : VisionTask(vot) {} virtual taskType_t getTaskType() const { return visObj; } }; //! Uses built-in colored region detectors via Region event stream class VisionRegionTask : public VisionTask { public: VisionRegionTask(const set<int>& colorIndex, AngPi _interval, unsigned int _minArea=200) : VisionTask(colorIndex,_interval), minArea(_minArea) {} VisionRegionTask(int colorIndex, AngPi _interval, unsigned int _minArea=200) : VisionTask(colorIndex,_interval), minArea(_minArea) {} VisionRegionTask(const VisionRegionTask& vrt) : VisionTask(vrt), minArea(vrt.minArea) {} virtual taskType_t getTaskType() const { return visReg; } unsigned int minArea; }; }; class ScanAlongLineRequest : public ScanRequest { public: ScanAlongLineRequest(const Point& bPt, const Point& ePt, float _speed=defSpd) : ScanRequest(_speed), beginPt(bPt), endPt(ePt) {} ScanAlongLineRequest(const ScanAlongLineRequest& req) : ScanRequest(req), beginPt(req.beginPt), endPt(req.endPt) {} // virtual HeadMotionType_t getHeadMotionType() const { return scanLine; } virtual ScanType_t getScanType() const { return line; } Point beginPt, endPt; }; class ScanAreaRequest : public ScanRequest { public: ScanAreaRequest(coordinate_t _left, coordinate_t _right, coordinate_t _far, coordinate_t _near, float _speed=defSpd) : ScanRequest(_speed),left(_left), right(_right),far(_far),near(_near) {} ScanAreaRequest(const ScanAreaRequest& req) : ScanRequest(req), left(req.left), right(req.right), far(req.far), near(req.near) {} // virtual HeadMotionType_t getHeadMotionType() const { return scanArea; } virtual ScanType_t getScanType() const { return area; } coordinate_t left,right,far,near; }; //-------------------------------------------- // ------------TRACK requests------------------- class TrackRequest : public LookoutRequest { public: TrackRequest(const vector<ScanRequest::VisionTask>& _landmarks, const ShapeRoot& _area) : landmarks(_landmarks), area(_area), lmLocation(), lmInView(false) {} TrackRequest(const vector<ScanRequest::VisionTask>& _landmarks, const Point& pt, const ShapeRoot& _area) : landmarks(_landmarks), area(_area), lmLocation(pt), lmInView(false) {} virtual HeadMotionType_t getHeadMotionType() const { return track; } vector<ScanRequest::VisionTask> landmarks; ShapeRoot area; Point lmLocation; bool lmInView; }; //-------------------------------------------- } // namespace #endif

DualCoding 3.0beta

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