laserfeatureextractor.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 Alex Brooks
 *
 * This distribution is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */
#ifndef HYDRO_INTERFACES_LASERFEATUREEXTRACTOR_H
#define HYDRO_INTERFACES_LASERFEATUREEXTRACTOR_H

#include <string>
#include <vector>
#include <hydroutil/context.h>

namespace hydrofeatureobs {
    class FeatureObs;
}

namespace hydrointerfaces 
{






class SOEXPORT LaserFeatureExtractor 
{

public:

    virtual ~LaserFeatureExtractor() {};

    virtual std::vector<hydrofeatureobs::FeatureObs*> 
        extractFeatures( const std::vector<float>         &ranges,
                         const std::vector<unsigned char> &intensities ) = 0;

private:

};

class SOEXPORT LaserFeatureExtractorFactory {
public:
    virtual ~LaserFeatureExtractorFactory() {};
    virtual LaserFeatureExtractor *createDriver( double laserMaxRange,
                                                 double laserStartAngle,
                                                 double laserAngleIncrement,
                                                 int    laserNumReturns,
                                                 const hydroutil::Context &context ) const=0;
};

} // namespace

// Function for dynamically instantiating drivers.
// A driver must have a function like so:
// extern "C" {
//     hydrointerfaces::LaserFeatureExtractorFactory *createLaserFeatureExtractorDriverFactory();
// }
typedef hydrointerfaces::LaserFeatureExtractorFactory *LaserFeatureExtractorDriverFactoryMakerFunc();

#endif