BeobotSensation.H

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00001 /*!@file Beobot/BeobotSensation.H sensory events for the Beobots */
00002 
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: Laurent Itti <itti@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Beobot/BeobotSensation.H $
00035 // $Id: BeobotSensation.H 9412 2008-03-10 23:10:15Z farhan $
00036 //
00037 
00038 #ifndef BEOBOTSENSATION_H_DEFINED
00039 #define BEOBOTSENSATION_H_DEFINED
00040 
00041 #include "Util/Assert.H"
00042 #include "Util/Types.H"
00043 #include "Image/Pixels.H"
00044 #include "Image/Image.H"
00045 #include "Image/Point2D.H"
00046 
00047 //! this class contains all the sensory informations but not the action
00048 /*! it is used to compute an action */
00049 class BeobotSensation
00050 {
00051 public:
00052   //! no arg constructor
00053   inline BeobotSensation();
00054 
00055   //! constructor
00056   inline BeobotSensation(const Image< PixRGB<byte> >& quicklayout,
00057                          const Point2D<int>& supposedcrackcentroid );
00058 
00059   //! copy constructor
00060   BeobotSensation( const BeobotSensation& other);
00061 
00062   //! assignment constructor:
00063   BeobotSensation& operator=(const BeobotSensation& other);
00064 
00065   //! access function
00066   inline void getQuickLayout(Image< PixRGB<byte> >& im) const;
00067 
00068   //! access function
00069   inline void getCentroid( Point2D<int> & centroid ) const;
00070 
00071   //! set 'confused' to 'true'
00072   inline void setConfused( void ) { confused=true; };
00073 
00074   //! return 'confused'
00075   inline bool isConfused( void ) { return confused; };
00076 
00077   //! return 'initialized'
00078   inline bool isInitialized( void ) { return initialized; };
00079 
00080   //! destructor
00081   ~BeobotSensation();
00082 
00083 private:
00084   bool initialized;
00085   bool confused;
00086   Image< PixRGB<byte> > quickLayout;
00087   Point2D<int> supposedTrackCentroid;
00088 
00089   // and at some time the state of the sensors ?
00090 };
00091 
00092 // ######################################################################
00093 // ######################################################################
00094 // ######################################################################
00095 // INLINE FUNCTIONS:
00096 // ######################################################################
00097 // ######################################################################
00098 // ######################################################################
00099 
00100 // ######################################################################
00101 BeobotSensation::BeobotSensation()
00102 { initialized = false; confused = false; }
00103 
00104 // ######################################################################
00105 BeobotSensation::BeobotSensation(const Image< PixRGB<byte> >& quicklayout,
00106                                  const Point2D<int>& supposedtrackcentroid )
00107 {
00108   // note: don't be confused by capitalization :
00109   // quickLayout (attribute) != quicklayout (arg)
00110   // the "this->" are just for clarity...
00111 
00112   ASSERT( quicklayout.initialized() );
00113   this->quickLayout = quicklayout;
00114   this->supposedTrackCentroid = supposedtrackcentroid;
00115 
00116   this->initialized = true;
00117 }
00118 
00119 // ######################################################################
00120 inline void BeobotSensation::getQuickLayout(Image< PixRGB<byte> >& im) const
00121 {
00122   ASSERT( initialized );
00123   im = quickLayout;
00124 }
00125 
00126 // ######################################################################
00127 inline void BeobotSensation::getCentroid( Point2D<int> & centroid ) const
00128 {
00129   ASSERT( initialized );
00130   centroid = supposedTrackCentroid;
00131 }
00132 
00133 #endif
00134 
00135 
00136 // ######################################################################
00137 /* So things look consistent in everyone's emacs... */
00138 /* Local Variables: */
00139 /* indent-tabs-mode: nil */
00140 /* End: */
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