00001 /*!@file BeoSub/BeoSubSensor.H Basic sensor encapsulation for the BeoSub */ 00002 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2003 // 00005 // by the University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Laurent Itti <itti@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/BeoSub/BeoSubSensor.H $ 00035 // $Id: BeoSubSensor.H 5709 2005-10-13 07:53:05Z ilab16 $ 00036 // 00037 00038 #ifndef BEOSUBSENSOR_H_DEFINED 00039 #define BEOSUBSENSOR_H_DEFINED 00040 00041 #include "Util/Angle.H" 00042 #include "Util/Types.H" 00043 #include <deque> 00044 #include <pthread.h> 00045 00046 //! Definition and access functions for a BeoSub sensor 00047 /*! This class encapsulates a basic BeoSub sensor. Sensed data 00048 consists of streams of T (the template argument) values. 00049 Measurements received (e.g., through BeoChip events) are passed to 00050 the BeoSubSensor via the newMeasurement() function. Current filtered 00051 value is available via the getValue() function. The class is 00052 thread-safe. */ 00053 template <class T> class BeoSubSensor 00054 { 00055 public: 00056 //! Constructor 00057 /* Build a new sensor. 00058 @param qlen length of the internal queue used to store the received 00059 data and compute the filtered sensor value. 00060 @param decay exponential decay by which older values contribute to the 00061 returned average measurement. */ 00062 BeoSubSensor(const uint qlen = 6, const double decay = 1.0); 00063 00064 //! Destructor 00065 ~BeoSubSensor(); 00066 00067 //! Receive a new measurement value 00068 void newMeasurement(const T& val); 00069 00070 //! Get current filtered value 00071 T getValue() const; 00072 00073 //! Clear all past measurements 00074 void reset(); 00075 00076 //! Check whether received values are well behaved 00077 bool check() const; 00078 00079 private: 00080 std::deque<T> itsQ; 00081 uint itsQlen; 00082 bool itsCacheValid; 00083 T itsCachedValue; 00084 double itsDecay; 00085 pthread_mutex_t itsMutex; 00086 }; 00087 00088 //! Helper function: compute averaged sensor measurements 00089 template <class T> 00090 T averageBeoSubSensorValue(const std::deque<T> data, 00091 const double factor = 1.0); 00092 00093 //! Helper function: compute averaged sensor measurements, Angle version 00094 Angle averageBeoSubSensorValue(std::deque<Angle> data, 00095 const double factor = 1.0); 00096 00097 #endif 00098 00099 // ###################################################################### 00100 /* So things look consistent in everyone's emacs... */ 00101 /* Local Variables: */ 00102 /* indent-tabs-mode: nil */ 00103 /* End: */
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