PrimarySomatosensoryCortexI.H

00001 /*!@file PrimarySomatosensoryCortex.C get sensors the actual robot */
00002 
00003 
00004 //////////////////////////////////////////////////////////////////// //
00005 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00006 // University of Southern California (USC) and the iLab at USC.         //
00007 // See http://iLab.usc.edu for information about this project.          //
00008 // //////////////////////////////////////////////////////////////////// //
00009 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00010 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00011 // in Visual Environments, and Applications'' by Christof Koch and      //
00012 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00013 // pending; application number 09/912,225 filed July 23, 2001; see      //
00014 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00015 // //////////////////////////////////////////////////////////////////// //
00016 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00017 //                                                                      //
00018 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00019 // redistribute it and/or modify it under the terms of the GNU General  //
00020 // Public License as published by the Free Software Foundation; either  //
00021 // version 2 of the License, or (at your option) any later version.     //
00022 //                                                                      //
00023 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00024 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00025 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00026 // PURPOSE.  See the GNU General Public License for more details.       //
00027 //                                                                      //
00028 // You should have received a copy of the GNU General Public License    //
00029 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00030 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00031 // Boston, MA 02111-1307 USA.                                           //
00032 // //////////////////////////////////////////////////////////////////// //
00033 //
00034 // Primary maintainer for this file: Lior Elazary <lelazary@yahoo.com>
00035 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/RobotBrain/PrimarySomatosensoryCortexI.H $
00036 // $Id: PrimarySomatosensoryCortexI.H 12281 2009-12-17 09:00:36Z itti $
00037 //
00038 
00039 #ifndef PrimarySomatosensoryCortex_H_DEFINED
00040 #define PrimarySomatosensoryCortex_H_DEFINED
00041 
00042 #include "Component/ModelComponent.H"
00043 #include "Component/ModelParam.H"
00044 #include "Media/FrameSeries.H"
00045 #include "Transport/FrameInfo.H"
00046 #include "Raster/GenericFrame.H"
00047 #include "Image/Image.H"
00048 #include "GUI/XWinManaged.H"
00049 #include "GUI/ImageDisplayStream.H"
00050 #include "Image/Image.H"
00051 #include "Image/Pixels.H"
00052 
00053 #include <Ice/Ice.h>
00054 #include <IceUtil/Thread.h>
00055 #include "Ice/IRobot.ice.H"
00056 #include "Ice/RobotBrainObjects.ice.H"
00057 #include "Ice/SimEventsUtils.H"
00058 
00059 class PrimarySomatosensoryCortexI : public ModelComponent, public RobotBrainObjects::PrimarySomatosensoryCortex, public IceUtil::Thread
00060 {
00061 
00062 public:
00063 
00064   PrimarySomatosensoryCortexI(OptionManager& mgr,
00065       const std::string& descrName = "PrimarySomatosensoryCortex",
00066       const std::string& tagName = "PrimarySomatosensoryCortex");
00067   ~PrimarySomatosensoryCortexI();
00068 
00069   virtual void run();
00070 
00071   //! Attache to the IRobot
00072   void init(Ice::CommunicatorPtr ic, Ice::ObjectAdapterPtr adapter);
00073 
00074   virtual void updateMessage(const RobotSimEvents::EventMessagePtr& eMsg,
00075       const Ice::Current&);
00076 private:
00077   Ice::ObjectPrx            itsObjectPrx;
00078   Robots::IRobotPrx         itsRobot;
00079   RobotSimEvents::EventsPrx itsGPSPublisher;
00080   RobotSimEvents::EventsPrx itsMotionPublisher;
00081 };
00082 
00083 #endif
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