/usr/include/Aria/ArActionColorFollow.h

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARACTIONCOLORFOLLOW_H
#define ARACTIONCOLORFOLLOW_H

#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArFunctor.h"
#include "ArAction.h"
#include "ArACTS.h"
#include "ArPTZ.h"

/// ArActionColorFollow is an action that moves the robot toward the
/// largest ACTS blob that appears in it's current field of view.
///  @ingroup ActionClasses
class ArActionColorFollow : public ArAction
{
  
public:
  // Constructor
  AREXPORT ArActionColorFollow(const char *name, 
			       ArACTS_1_2 *acts,
			       ArPTZ *camera,
			       double speed = 200, 
			       int width = 160, 
			       int height = 120);
  
  // Destructor
  AREXPORT virtual ~ArActionColorFollow(void);
  
  // The action
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);

  // Set the ACTS channel that we want to get blob info out of
  AREXPORT bool setChannel(int channel);

  // Set the camera that we will be controlling
  AREXPORT void setCamera(ArPTZ *camera);

  // Toggle whether we should try to acquire a blob
  // if one cannot be seen
  AREXPORT void setAcquire(bool acquire);

  // Stop moving alltogether
  AREXPORT void stopMovement(void);
  
  // Start moving
  AREXPORT void startMovement(void);

  // Return the channel that we are looking for blobs on
  AREXPORT int getChannel();
  
  // Return whether or not we are trying to acquire a blob
  // if we cannot see one
  AREXPORT bool getAcquire();
  
  // Return whether or not we are moving
  AREXPORT bool getMovement();

  // Return whether or not we can see a target
  AREXPORT bool getBlob();

  // The state of the action
  enum TargetState 
  {
    NO_TARGET,      // There is no target in view
    TARGET          // There is a target in view
  };

  // The state of movement
  enum MoveState
  {
    FOLLOWING,     // Following a blob
    ACQUIRING,     // Searching for a blob
    STOPPED        // Sitting still
  };

  // The last seen location of the blob
  enum LocationState
  {
    LEFT,           // The blob is on the left side of the screen
    RIGHT,          // The blob is on the right side of the screen
    CENTER          // The blob is relatively close to the center
  };
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                        { return &myDesired; }
#endif
protected:
  ArActionDesired myDesired;
  ArACTS_1_2 *myActs;
  ArPTZ *myCamera;
  ArTime myLastSeen;
  TargetState myState;
  MoveState myMove;
  LocationState myLocation;
  bool myAcquire;
  bool killMovement;
  int myChannel;
  int myMaxTime;
  int myHeight;
  int myWidth;
  double mySpeed;
};


#endif // ARACTIONCOLORFOLLOW_H
libaria-dev 2.8.0+repack-1.2 / usr / include / Aria / ArActionColorFollow.h
