00001 /** 00002 \file Robots/LoBot/control/LoMonitorDZone.H 00003 \brief A behaviour for monitoring the robot's danger zone and taking 00004 one of several possible actions as per the user's configuration. 00005 */ 00006 00007 // //////////////////////////////////////////////////////////////////// // 00008 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2005 // 00009 // by the University of Southern California (USC) and the iLab at USC. // 00010 // See http://iLab.usc.edu for information about this project. // 00011 // //////////////////////////////////////////////////////////////////// // 00012 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00013 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00014 // in Visual Environments, and Applications'' by Christof Koch and // 00015 // Laurent Itti, California Institute of Technology, 2001 (patent // 00016 // pending; application number 09/912,225 filed July 23, 2001; see // 00017 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00018 // //////////////////////////////////////////////////////////////////// // 00019 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00020 // // 00021 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00022 // redistribute it and/or modify it under the terms of the GNU General // 00023 // Public License as published by the Free Software Foundation; either // 00024 // version 2 of the License, or (at your option) any later version. // 00025 // // 00026 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00027 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00028 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00029 // PURPOSE. See the GNU General Public License for more details. // 00030 // // 00031 // You should have received a copy of the GNU General Public License // 00032 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00033 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00034 // Boston, MA 02111-1307 USA. // 00035 // //////////////////////////////////////////////////////////////////// // 00036 // 00037 // Primary maintainer for this file: mviswana usc edu 00038 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/LoBot/control/LoMonitorDZone.H $ 00039 // $Id: LoMonitorDZone.H 14040 2010-09-24 17:55:23Z mviswana $ 00040 // 00041 00042 #ifndef LOBOT_MONITOR_DANGER_ZONE_BEHAVIOUR_DOT_H 00043 #define LOBOT_MONITOR_DANGER_ZONE_BEHAVIOUR_DOT_H 00044 00045 //------------------------------ HEADERS -------------------------------- 00046 00047 // lobot headers 00048 #include "Robots/LoBot/control/LoBehavior.H" 00049 #include "Robots/LoBot/misc/factory.hh" 00050 00051 // Standard C++ headers 00052 #include <vector> 00053 00054 //----------------------------- NAMESPACE ------------------------------- 00055 00056 namespace lobot { 00057 00058 //------------------------- CLASS DEFINITION ---------------------------- 00059 00060 /** 00061 \class lobot::MonitorDZone 00062 \brief A behaviour for monitoring the robot's danger zone and taking 00063 one of several possible actions depending on the user's config 00064 settings. 00065 00066 This class implements a behaviour that monitors the danger zone and 00067 takes some user-specified action after it has been penetrated for at 00068 least some predetermined period. The supported actions are: 00069 00070 - pause the robot and let user figure out how to proceed 00071 - spin by a random amount 00072 - quit the Robolocust controller application 00073 */ 00074 class MonitorDZone : public Behavior { 00075 // Prevent copy and assignment 00076 MonitorDZone(const MonitorDZone&) ; 00077 MonitorDZone& operator=(const MonitorDZone&) ; 00078 00079 // Handy type to have around in a derived class 00080 typedef Behavior base ; 00081 00082 // Boilerplate code to make the generic factory design pattern work 00083 friend class subfactory<MonitorDZone, base> ; 00084 typedef register_factory<MonitorDZone, base> my_factory ; 00085 static my_factory register_me ; 00086 00087 /// This variable keeps track of when the danger zone was penetrated. 00088 long long m_time ; 00089 00090 /// A private constructor because behaviours are instantiated with an 00091 /// object factory and not directly by clients. 00092 MonitorDZone() ; 00093 00094 /// This method provides the body of the behaviour's main loop. 00095 void action() ; 00096 00097 /// This method resets the danger zone penetration time stamp. 00098 void reset() ; 00099 00100 /// Clean-up. 00101 ~MonitorDZone() ; 00102 } ; 00103 00104 //----------------------------------------------------------------------- 00105 00106 } // end of namespace encapsulating this file's definitions 00107 00108 #endif 00109 00110 /* So things look consistent in everyone's emacs... */ 00111 /* Local Variables: */ 00112 /* indent-tabs-mode: nil */ 00113 /* End: */
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