dsaboost.h

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//======================================================================
//======================================================================
#ifndef DSABOOST_h
#define DSABOOST_h
 
#include <iostream>
#include <vector>
#include <assert.h>
 
// Include the cSDH interface
#include "sdh/sdh.h"
#include "sdh/util.h"
#include "sdh/sdhlibrary_settings.h"
#include "sdh/basisdef.h"
#include "sdh/dsa.h"
 
#include "boost/thread.hpp"
#include "boost/date_time/posix_time/posix_time.hpp"
 
 
//-----------------------------------------------------------------
 
 
NAMESPACE_SDH_START
 
class cDSAUpdater
{
private:
    boost::thread updater_thread;
 
    int   error_threshold;
    cDSA* ts;
 
    void Updater();
 
public:
    static int const DEFAULT_ERROR_THRESHOLD = 16;
 
    cDSAUpdater( cDSA* _ts, int _error_threshold=DEFAULT_ERROR_THRESHOLD );
 
    void interrupt()
    { updater_thread.interrupt(); };
};
//-----------------------------------------------------------------
 
class cIsGraspedBase
{
protected:
    SDH::cDSA* ts;  
 
public:
    cIsGraspedBase( SDH::cDSA* _ts )
    :
        // init member objects:
        ts( _ts )
    {
    }
 
    virtual bool IsGrasped(void) = 0;
};
//-----------------------------------------------------------------
 
 
class cIsGraspedByArea : public cIsGraspedBase
{
private:
    double expected_area[ 6 ]; 
 
    double FullArea( int m );
 
public:
    void SetCondition( double eaf0p, double eaf0d, double eaf1p, double eaf1d, double eaf2p, double eaf2d );
 
    void SetCondition( double* eafx );
 
    cIsGraspedByArea( SDH::cDSA* _ts );
 
    virtual bool IsGrasped(void);
};
 
NAMESPACE_SDH_END
 
#endif
 
//======================================================================
/*
  Here are some settings for the emacs/xemacs editor (and can be safely ignored)
  (e.g. to explicitely set C++ mode for *.h header files)
 
  Local Variables:
  mode:C++
  mode:ELSE
  End:
*/
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