dsaboost.h

Go to the documentation of this file.

//======================================================================
//======================================================================
#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:
*/
//======================================================================]