vws_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _vws_alg_h_
#define _vws_alg_h_

#include <iri_vws/VwsConfig.h>
#include "mutex.h"

// msgs
#include <iri_perception_msgs/Descriptor.h>
#include <iri_perception_msgs/DescriptorsToVws.h>
#include <iri_perception_msgs/GeoVw.h>
#include <iri_perception_msgs/GeoVwSet.h>

//include vws_alg main library
// opencv
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>

class VwsAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods

  public:
    typedef iri_vws::VwsConfig Config;

    Config config_;

    VwsAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all vws_alg interface methods to retrieve and set
    // the driver parameters

    ~VwsAlgorithm(void);
    
    
    // Variables
    cv::Mat centroids_;
    bool centroids_ready_;
    
    iri_perception_msgs::GeoVwSet get_geo_vw_from_descriptors(iri_perception_msgs::DescriptorsToVws::Request &req);
    
    cv::Mat descriptors_srv_to_mat(iri_perception_msgs::DescriptorsToVws::Request &req);
};

#endif