BeoSLAM.H

00001 /*!@file Robots2/Beobot2/SLAM_Localization.H
00002   SLAM navigation for HNB Basement  */
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00005 // 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: Josh Villbrandt <josh.villbrandt@usc.edu>
00034 // $HeadURL: svn://ilab.usc.edu/trunk/saliency/src/Robots/Beobot2/Localization/BeoSLAM.H
00035 // $Id: BeoSLAM.H 12962 2010-03-06 02:13:53Z irock $
00036 //
00037 
00038 #include "Component/ModelComponent.H"
00039 #include "Component/ModelParam.H"
00040 
00041 #include "Robots/RobotBrain/RobotBrainComponent.H"
00042 #include "Util/Timer.H"
00043 
00044 #include "Ice/RobotBrainObjects.ice.H"
00045 #include "Ice/RobotSimEvents.ice.H"
00046 #include <IceUtil/Thread.h>
00047 
00048 #include "Robots/Beobot2/BeoCommon.H"
00049 
00050 #include <vector>
00051 
00052 #ifndef BeoSLAMI_H
00053 #define BeoSLAMI_H
00054 
00055 class BeoSLAM : public RobotBrainComponent
00056 {
00057 public:
00058 
00059   BeoSLAM(OptionManager& mgr,
00060                 const std::string& descrName = "BeoSLAM",
00061                 const std::string& tagName = "BeoSLAM");
00062 
00063   ~BeoSLAM();
00064 
00065   virtual void evolve();
00066 
00067   //! Get a message
00068   virtual void updateMessage
00069   (const RobotSimEvents::EventMessagePtr& eMsg,
00070    const Ice::Current&);
00071 
00072   virtual void registerTopics();
00073 
00074   void start1();
00075 
00076 private:
00077   Beobot2::MotorCommand computeBeoSLAM();
00078   void updateMotor(double tran, double rot);
00079 
00080   std::string itsLogFilename;
00081   IceUtil::Mutex its_logFilename_mutex;        //!< locking log filename
00082 
00083 
00084   std::vector<double> itsDistances;
00085   std::vector<double> itsAngles;
00086 
00087   //nub::soft_ref<OutputFrameSeries> itsOfs;
00088   Timer itsTimer;
00089   int itsCurrMessageID;
00090 
00091 };
00092 
00093 #endif
00094 
00095 
00096 // ######################################################################
00097 /* So things look consistent in everyone's emacs... */
00098 /* Local Variables: */
00099 /* indent-tabs-mode: nil */
00100 /* End: */
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