Modules/SpecialVision/ChallengeSpecialVision.h

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/**
* @file ChallengeSpecialVision.h
* 
* Definition of class ChallengeSpecialVision
* This class finds out the orientation of the robot for the "Almost-Slam-Challenge"
*
* @author Thomas Kindler
* @author Matthias Hülsbusch
* @author Michael Wachter
*/

#ifndef __ChallengeSpecialVision_h_
#define __ChallengeSpecialVision_h_

#include "SpecialVision.h"


#define NUMBEROFSECTORS 36

class ChallengeSectorData
{
public:
  int numPixels[numOfColors];
};


class ChallengeSpecialVision : public SpecialVision
{
public:
  /** Constructor 
  * @param interfaces The interfaces of the SpecialVision module */
  ChallengeSpecialVision(const SpecialVisionInterfaces& interfaces);

  /** Executes the module */
  virtual void execute();
  
private:
  void executeLearnOrientation();
  void executeFindOrientation();
  void executeGetOrientation();
  void executeReset();
  ChallengeSectorData countPixels(int x1,int x2,int y1,int y2);
  
private:
  void sort( double* a, const int number);
  double alngleDifDegree(double a, double b);
  double flagAngle[MAXLEARNFLAGS];
  double foundAngle[MAXLEARNFLAGS];
  int flagCount;
  int foundAngleCount;

private:
  ChallengeSectorData data[NUMBEROFSECTORS];

};

#endif// __BarCodeReader_h_

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