Modules/SpecialVision/SpecialVision.h

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/** 
* @file SpecialVision.h
* 
* Definition of class SpecialVision
*
* @author <A href=mailto:juengel@informatik.hu-berlin.de>Matthias Juengel</A>
* @author Martin Lötzsch
*/

#ifndef __SpecialVision_h_
#define __SpecialVision_h_

#include "Tools/Module/Module.h"

#include "Representations/Perception/Image.h"
#include "Representations/Perception/SpecialPercept.h"
#include "Representations/Perception/SpecialVisionRequest.h"
#include "Representations/Perception/ColorTable.h"
#include "Platform/Sensors.h"
#include "Representations/Cognition/RobotPose.h"

/** 
* @class SpecialVisionInterfaces
* 
* The interfaces of the module SpecialVision
*/
class SpecialVisionInterfaces
{
public:
  /** Constructor */
  SpecialVisionInterfaces(const Image& image, 
    const SpecialVisionRequest& specialVisionRequest,
    const ColorTable& colorTable,
    const RobotPose& robotPose,
    SpecialPercept& specialPercept,
    Sensors& sensors)
    : 
    image(image),
    specialVisionRequest(specialVisionRequest),
    colorTable(colorTable),
    robotPose(robotPose),
    specialPercept(specialPercept),
    sensors(sensors)
  {}
protected:
  /** The image to be processed */
  const Image& image;
  
  /** A request from the behavior what to do */
  const SpecialVisionRequest& specialVisionRequest;
  
  /** A colortable ptr that can be used */
  const ColorTable& colorTable;

  /** A Robot-Pose that can be uses */
  const RobotPose& robotPose;

  /** The special percept to be generated */
  SpecialPercept& specialPercept;

  /** The sensors class (it's the cognition process itself, believe it or not !) */
  Sensors& sensors;
};


/**
* @class SpecialVision
*
* The base class for special vision modules 
*/
class SpecialVision : public Module, public SpecialVisionInterfaces
{
public:
/** 
* Constructor
* @param interfaces The interfaces of the SpecialVision module 
  */
  SpecialVision(const SpecialVisionInterfaces& interfaces)
    : SpecialVisionInterfaces(interfaces)
  {}
  
  /** Destructor */
  virtual ~SpecialVision() {}
};

#endif // __SpecialVision_h_

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