Beobot Class Reference

this class is a complete Beobot More...

#include <Beobot/Beobot.H>

Collaboration diagram for Beobot:

Public Member Functions
	Beobot (const char *slaves, const int imgw, const int imgh, const int lev_min, const int lev_max, const int delta_min, const int delta_max, const int smlev, const int nborient, const MaxNormType normtype, const int jlev, const int jdepth, const int nbneig, const in_addr_t ip, const short int port)
	Constructor.
void	newVisualInput (Image< PixRGB< byte > > &scene)
	set new scene from an existing image
Image< PixRGB< byte > > *	getRetinaPtr ()
	get pointer to internal retina, for example to directly framegrab it
void	lowLevel (const int frame)
	low level pyramid business
void	lowLevelStart (const int frame)
	start low-level by sending off current frame
void	lowLevelEnd (const int frame)
	receive results from slave for given frame
void	getWinner (Point2D< int > &win) const
	get most salient location:
void	intermediateLevel (bool takeYourTime=false)
	compute the new "sensation" and update "memory"
void	highLevel (void)
	compute the new "action" and update "memory"
void	decision (void)
	take a decision
void	action (void)
	just do it
void	DEBUGgetClustered (Image< PixRGB< byte > > &im)
	returns the current clustered layout
void	DEBUGgetCurrentAction (BeobotAction &a)
	returns the current action
void	DEBUGsetCurrentAction (BeobotAction &a)
	set the current action

Detailed Description

this class is a complete Beobot

i.e. Visual Cortex, Memory, Sensors and Effectors

Definition at line 50 of file Beobot.H.

Constructor & Destructor Documentation

Beobot::Beobot	(	const char *	slaves,
		const int	imgw,
		const int	imgh,
		const int	lev_min,
		const int	lev_max,
		const int	delta_min,
		const int	delta_max,
		const int	smlev,
		const int	nborient,
		const MaxNormType	normtype,
		const int	jlev,
		const int	jdepth,
		const int	nbneig,
		const in_addr_t	ip,
		const short int	port
	)

Constructor.

use NULL for slaves to use the single-CPU version

Definition at line 41 of file Beobot.C.

References BeobotVisualCortex::init().

Member Function Documentation

void Beobot::action ( void )

just do it

Definition at line 208 of file Beobot.C.

Referenced by highLevel().

void Beobot::DEBUGgetClustered ( Image< PixRGB< byte > > & im )

returns the current clustered layout

Definition at line 147 of file Beobot.C.

References BeobotSensation::getQuickLayout(), and BeobotMemory::passedSensation().

void Beobot::DEBUGgetCurrentAction ( BeobotAction & a ) [inline]

returns the current action

Definition at line 107 of file Beobot.H.

void Beobot::DEBUGsetCurrentAction ( BeobotAction & a ) [inline]

set the current action

Definition at line 111 of file Beobot.H.

void Beobot::decision ( void )

take a decision

based of the recommendation issued by highLevel() and passed sensations and actions

Definition at line 202 of file Beobot.C.

References BeobotMemory::generatePresentAction().

Image< PixRGB< byte > > * Beobot::getRetinaPtr ( )

get pointer to internal retina, for example to directly framegrab it

Definition at line 70 of file Beobot.C.

References BeobotVisualCortex::getScenePtr().

Referenced by main().

void Beobot::getWinner ( Point2D< int > & win ) const

get most salient location:

Definition at line 86 of file Beobot.C.

References BeobotVisualCortex::getWinner().

void Beobot::highLevel ( void )

compute the new "action" and update "memory"

-- higher level reasoning

Definition at line 156 of file Beobot.C.

References action(), centroid(), BeobotSensation::getCentroid(), BeobotSensation::getQuickLayout(), Image< T >::getWidth(), Point2D< T >::i, BeobotMemory::passedSensation(), BeobotMemory::presentActionRecommendation(), BeobotAction::setGear(), BeobotAction::setSpeed(), and BeobotAction::setTurn().

void Beobot::intermediateLevel ( bool takeYourTime = false )

compute the new "sensation" and update "memory"

( given a new scene i.e. after see() and someday the state of the sensors ) -- high level vision but still low level cognitive processing takeYourTime is set to 'true' for the first frame which is necessary for convergence - see implementation

Definition at line 90 of file Beobot.C.

References BeobotSensation::getCentroid(), BeobotVisualCortex::getClusteredImage(), BeobotVisualCortex::getInputSize(), Point2D< T >::i, BeobotVisualCortex::initSprings(), BeobotVisualCortex::iterateSprings(), BeobotMemory::passedSensation(), and BeobotMemory::presentSensation().

void Beobot::lowLevel ( const int frame )

low level pyramid business

When using parallel processing, this method will send off the current frame and wait until all results have come back. For better performance, use lowLevelStart() and lowLevelEnd() instead.

Definition at line 74 of file Beobot.C.

References BeobotVisualCortex::process().

Referenced by main().

void Beobot::lowLevelEnd ( const int frame )

receive results from slave for given frame

Definition at line 82 of file Beobot.C.

References BeobotVisualCortex::processEnd().

Referenced by main().

void Beobot::lowLevelStart ( const int frame )

start low-level by sending off current frame

Definition at line 78 of file Beobot.C.

References BeobotVisualCortex::processStart().