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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