Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks
00005  *
00006  * This distribution is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef HYDRO_INTERFACES_LASERFEATUREEXTRACTOR_H
00011 #define HYDRO_INTERFACES_LASERFEATUREEXTRACTOR_H
00012 
00013 #include <string>
00014 #include <vector>
00015 #include <hydroutil/context.h>
00016 
00017 namespace hydrofeatureobs {
00018     class FeatureObs;
00019 }
00020 
00021 namespace hydrointerfaces 
00022 {
00023 
00037 
00038 
00039 
00040 
00041 
00042 class SOEXPORT LaserFeatureExtractor 
00043 {
00044 
00045 public:
00046 
00047     virtual ~LaserFeatureExtractor() {};
00048 
00051     virtual std::vector<hydrofeatureobs::FeatureObs*> 
00052         extractFeatures( const std::vector<float>         &ranges,
00053                          const std::vector<unsigned char> &intensities ) = 0;
00054 
00055 private:
00056 
00057 };
00058 
00060 class SOEXPORT LaserFeatureExtractorFactory {
00061 public:
00062     virtual ~LaserFeatureExtractorFactory() {};
00064     virtual LaserFeatureExtractor *createDriver( double laserMaxRange,
00065                                                  double laserStartAngle,
00066                                                  double laserAngleIncrement,
00067                                                  const hydroutil::Context &context ) const=0;
00068 };
00069 
00071 } // namespace
00072 
00073 // Function for dynamically instantiating drivers.
00074 // A driver must have a function like so:
00075 // extern "C" {
00076 //     hydrointerfaces::LaserFeatureExtractorFactory *createDriverFactory();
00077 // }
00078 typedef hydrointerfaces::LaserFeatureExtractorFactory *DriverFactoryMakerFunc();
00079 
00080 #endif
laserfeatureextractor.h
