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 copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010  
00011 #ifndef LFECOMBINED_DRIVER_H
00012 #define LFECOMBINED_DRIVER_H
00013 
00014 #include <hydrointerfaces/laserfeatureextractor.h>
00015 #include <hydrolaserfeatureextract/hydrolaserfeatureextract.h>
00016 
00017 namespace lfecombined
00018 {
00019 
00020 class Driver: public hydrointerfaces::LaserFeatureExtractor
00021 {
00022 
00023 public:
00024 
00025     Driver( const hydrolfextract::ScannerConfig &scannerConfig,
00026             const hydroutil::Context &context );
00027 
00028     std::vector<hydrofeatureobs::FeatureObs*> 
00029     extractFeatures( const std::vector<float>         &ranges,
00030                      const std::vector<unsigned char> &intensities );
00031     
00032 private:
00033 
00034     std::auto_ptr<hydrolfextract::ReflectorExtractor>         reflectorExtractor_;
00035     std::auto_ptr<hydrolfextract::ReflectorFeatureExtractor>  reflectorFeatureExtractor_;
00036 
00037     std::auto_ptr<hydrolfextract::ForegroundExtractor>        foregroundExtractor_;
00038     std::auto_ptr<hydrolfextract::ForegroundFeatureExtractor> foregroundFeatureExtractor_;
00039 
00040     std::auto_ptr<hydrolfextract::DoorExtractor>              doorExtractor_;
00041     std::auto_ptr<hydrolfextract::DoorFeatureExtractor>       doorFeatureExtractor_;
00042 
00043     std::auto_ptr<hydrolfextract::LineExtractor>              lineExtractor_;
00044     std::auto_ptr<hydrolfextract::LineFeatureExtractor>       lineFeatureExtractor_;
00045     std::auto_ptr<hydrolfextract::CornerFeatureExtractor>     cornerFeatureExtractor_;
00046 };
00047 
00049 
00050 hydrolfextract::ReflectorExtractor *
00051 getReflectorExtractor( const hydrolfextract::ScannerConfig &scannerConfig,
00052                        const hydroutil::Context &context );
00053 hydrolfextract::ReflectorFeatureExtractor *
00054 getReflectorFeatureExtractor( const hydrolfextract::ReflectorExtractor::Config &cfg,
00055                               double rangeSd,
00056                               double bearingSd,
00057                               const hydroutil::Context &context );
00058 
00059 hydrolfextract::ForegroundExtractor *
00060 getForegroundExtractor( const hydrolfextract::ScannerConfig &scannerConfig,
00061                         const hydroutil::Context &context );
00062 hydrolfextract::ForegroundFeatureExtractor *
00063 getForegroundFeatureExtractor( const hydrolfextract::ForegroundExtractor::Config &cfg,
00064                                double rangeSd,
00065                                double bearingSd,
00066                                const hydroutil::Context &context );
00067 
00068 hydrolfextract::DoorExtractor *
00069 getDoorExtractor( const hydrolfextract::ScannerConfig &scannerConfig,
00070                   const hydroutil::Context &context );
00071 hydrolfextract::DoorFeatureExtractor *
00072 getDoorFeatureExtractor( const hydrolfextract::DoorExtractor::Config &cfg,
00073                          double rangeSd,
00074                          double bearingSd,
00075                          const hydroutil::Context &context );
00076 
00077 hydrolfextract::LineExtractor *
00078 getLineExtractor( const hydrolfextract::ScannerConfig &scannerConfig,
00079                   const hydroutil::Context &context );
00080 hydrolfextract::LineFeatureExtractor *
00081 getLineFeatureExtractor( const hydrolfextract::LineExtractor::Config &cfg,
00082                          double rangeSd,
00083                          double bearingSd,
00084                          const hydroutil::Context &context );
00085 hydrolfextract::CornerFeatureExtractor *
00086 getCornerFeatureExtractor( const hydrolfextract::LineExtractor::Config &cfg,
00087                            double rangeSd,
00088                            double bearingSd,
00089                            const hydroutil::Context &context );
00090 
00092 
00093 // Used for dynamically loading driver
00094 class Factory : public hydrointerfaces::LaserFeatureExtractorFactory
00095 {
00096 public:
00097     hydrointerfaces::LaserFeatureExtractor*
00098     createDriver( double laserMaxRange,
00099                   double laserStartAngle,
00100                   double laserAngleIncrement,
00101                   const hydroutil::Context &context ) const
00102     {
00103         hydrolfextract::ScannerConfig scannerConfig( laserMaxRange, laserStartAngle, laserAngleIncrement );
00104         return new Driver( scannerConfig, context );
00105     }
00106 };
00107 
00108 } // namespace
00109 
00110 // Used for dynamically loading driver
00111 extern "C" {
00112     hydrointerfaces::LaserFeatureExtractorFactory *createDriverFactory();
00113 }
00114 
00115 #endif
laserfeatureextractorcombined/driver.h
