Platform/Aperios1.3.2/Sensors.h

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/**
* @file Platform/Aperios1.3.2/Sensors.h
*
* Declaration of class Sensors and streaming operators for images and sensor data
* for Aperios platform
*
* @author Thomas Röfer
* @author Martin Lötzsch
* @author Sebastian Petters
* @author Joscha Bach
*/

#ifndef __Sensors_h_
#define __Sensors_h_

#include "Representations/Perception/SensorDataBuffer.h"
#include "Representations/Perception/Image.h"
#include "Representations/Perception/CameraParameters.h"

/**
 * @class Sensors
 * base class for sensor processes
 *
 * @author Joscha Bach
 */
 
class Sensors 
{
  public:
  /**
  * constructor.
  * reads camera parameters from file or sets defaults if no file exists 
  */  
  Sensors(); 
  /**
  * sets Camera Parameters with CameraParameters ;-/ 
  */  
  void setCameraParameters (CameraParameters &cameraParameters);
  CameraParameters getCameraParameters ();
  protected:
  CameraParameters cameraParameters;
};

/**
 * Streaming operator that converts system-dependent images into the portable class Image.
 * @todo Implement copying from OFbkImageVectorData to Image.
 * @param stream The stream from which is read.
 * @param image The system independent image object.
 * @return The stream.
 */ 
In& operator>>(In& stream,Image& image);

/**
 * The macro instantiates a receiver for an Image.
 * The Image receiver is system-specific.
 * For Aperios, an Image receiver must be registered as OFbkImageVectorData.
 * @param blocking Decides whether this sender blocks the execution of the next frame
 *                 until all connected receivers have requested a new package.
 */
#define INIT_RECEIVER_IMAGE(blocking) \
  theImageReceiver(this,"Receiver.OFbkImageVectorData.O",blocking)

/**
 * Streaming operator that converts system-dependent sensor data into the portable class SensorDataBuffer.
 * @param stream The stream from which is read.
 * @param sensorDataBuffer The system independent sensor data buffer object.
 * @return The stream.
 */ 
In& operator>>(In& stream,SensorDataBuffer& sensorDataBuffer);

/**
 * The macro instantiates a receiver for SensorDataBuffer.
 * The SensorDataBuffer receiver is system-specific.
 * For Aperios, a SensorDataBuffer receiver must be registered as OSensorFrameVectorData.
 * @param blocking Decides whether this sender blocks the execution of the next frame
 *                 until all connected receivers have requested a new package.
 */
#define INIT_RECEIVER_SENSORDATA(blocking) \
  theSensorDataBufferReceiver(this,"Receiver.OSensorFrameVectorData.O",blocking)

#endif //__Sensors_h_

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