00001 /*!@file Devices/VectorHistField.H Vector field class to compute vector 00002 histogram field */ 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: Farhan Baluch 00035 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/LoBot/control/VectorHistField.H $ 00036 // $Id: VectorHistField.H 12962 2010-03-06 02:13:53Z irock $ 00037 // 00038 00039 #ifndef VectorHistField_H_DEFINED 00040 #define VectorHistField_H_DEFINED 00041 00042 #include "Image/VectorField.H" 00043 using namespace geom; 00044 00045 class VectorHistField : public VectorField 00046 { 00047 public: 00048 //! Default constructor; see VectorField.H 00049 VectorHistField(OptionManager& mgr, 00050 const std::string& descrName = "VectorHistField", 00051 const std::string& tagName = "VectorHistField", 00052 const int width=300, const int height=300); 00053 00054 //! Destructor 00055 ~VectorHistField(); 00056 00057 /*!updateField() -- update the current field based on some sensor data 00058 of type Point2D<int> a; where a.i = distance a.j=angle of obstacle 00059 since this can be pretty implementation specific we keep this virtual 00060 so that different algorithms can implement their own implementation of 00061 this method. 00062 */ 00063 Image<PixRGB<byte> > updateField(std::vector<Point2D<float> > sensorData, 00064 Point2D<int>robotPos, float robotOrient, 00065 float robotDist,Point2D<int> goal, 00066 Image<geom::vec2f> itsObsTemplate); 00067 00068 //!obstacleTemplate -- creates an obstacle template field 00069 Image<geom::vec2f> obstacleTemplate(float sigma,float amp); 00070 00071 //!shiftField -- shifts the field depending on how the robot moved 00072 void shiftField(int dist, int ang); 00073 00074 protected: 00075 int itsDist; //keep track of dist since last field shift 00076 int itsAng; //keep track of angle since last field shift 00077 }; 00078 00079 #endif 00080 00081 // ###################################################################### 00082 /* So things look consistent in everyone's emacs... */ 00083 /* Local Variables: */ 00084 /* indent-tabs-mode: nil */ 00085 /* End: */
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