vws_alg.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _vws_alg_h_
00026 #define _vws_alg_h_
00027 
00028 #include <iri_vws/VwsConfig.h>
00029 #include "mutex.h"
00030 
00031 // msgs
00032 #include <iri_perception_msgs/Descriptor.h>
00033 #include <iri_perception_msgs/DescriptorsToVws.h>
00034 #include <iri_perception_msgs/GeoVw.h>
00035 #include <iri_perception_msgs/GeoVwSet.h>
00036 
00037 //include vws_alg main library
00038 // opencv
00039 #include <opencv2/imgproc/imgproc.hpp>
00040 #include <opencv2/features2d/features2d.hpp>
00041 
00047 class VwsAlgorithm
00048 {
00049   protected:
00056     CMutex alg_mutex_;
00057 
00058     // private attributes and methods
00059 
00060   public:
00067     typedef iri_vws::VwsConfig Config;
00068 
00075     Config config_;
00076 
00085     VwsAlgorithm(void);
00086 
00092     void lock(void) { alg_mutex_.enter(); };
00093 
00099     void unlock(void) { alg_mutex_.exit(); };
00100 
00108     bool try_enter(void) { return alg_mutex_.try_enter(); };
00109 
00121     void config_update(Config& new_cfg, uint32_t level=0);
00122 
00123     // here define all vws_alg interface methods to retrieve and set
00124     // the driver parameters
00125 
00132     ~VwsAlgorithm(void);
00133     
00134     
00135     // Variables
00136     cv::Mat centroids_;
00137     bool centroids_ready_;
00138     
00144     iri_perception_msgs::GeoVwSet get_geo_vw_from_descriptors(iri_perception_msgs::DescriptorsToVws::Request &req);
00145     
00151     cv::Mat descriptors_srv_to_mat(iri_perception_msgs::DescriptorsToVws::Request &req);
00152 };
00153 
00154 #endif


iri_vws
Author(s): dmartinez
autogenerated on Fri Dec 6 2013 22:49:05