Modules/ObstaclesLocator/GTCamObstaclesLocator.h

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/**
 * @file GTCamObstaclesLocator.h
 * 
 * This file contains a class for obstacle localization using the worldstate of the GTCam.
 *
 * @author <a href="mailto:timo.diekmann@uni-dortmund.de">Timo Diekmann</a>
 */

#ifndef __GTCamObstaclesLocator_h_
#define __GTCamObstaclesLocator_h_

#include "ObstaclesLocator.h"
/**
 * This class is a locator for obstacles.
 */
class GTCamObstaclesLocator : public ObstaclesLocator
{
public:
  // obstaclesRadius: the radius of the smallest circle drawn arround a robot
  // obstaclesDist: the distance between the center of the circle (s.o.) and the robot-koordinate-system
  enum {obstaclesRadius = 160, obstaclesDist = 60};
  /** 
  * Constructor.
  * @param interfaces The paramters of the ObstaclesLocator module.
  */
  GTCamObstaclesLocator(const ObstaclesLocatorInterfaces& interfaces);

  /** Executes the module */
  virtual void execute();
  virtual bool handleMessage(InMessage& message);
private:
  void modelLine(bool vert, double x, double sy, double ey, ObstaclesPercept::ObstacleType type);
  void modelRobot(double px, double py, double rotation, ObstaclesPercept::ObstacleType type);
  double rx, ry, ra; // pose of robot

  // constant values, set in the GTCamObstaclesLocator constructor
  double minStep, sectorWidth;
  int frontSectorNr, deltaSector45Nr;
};

#endif// __GTCamObstaclesLocator_h_

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