camerasensor.h

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/***************************************************************************
 *   Copyright (C) 2005-2011 LpzRobots development team                    *
 *    Georg Martius  <georg dot martius at web dot de>                     *
 *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
 *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
 *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 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 General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 *                                                                         *
 ***************************************************************************/
#ifndef __CAMERASENSOR_H
#define __CAMERASENSOR_H

#include "camera.h"
#include "sensor.h"

namespace lpzrobots {


  /** Class to connect a Camera as a sensor to a robot.
      Essentially it implements the conversion from the 2D image
      to a list of double sensor values.
      The initialization is a bit confusing: use the contructor (of a inherited class)
      to provide custom parameter; setInitData sets the handles and the camera
      which has to be called before the normal initialization of the Sensor (via init()).
      A subclass has to overload intern_init() to initialize intern structures
       (e.g. number of channels), sense() and get().

   */
  class CameraSensor : public Sensor {
  public:

    /** Creates a camera sensor. Use setInitData() to make it useable.
     */
    CameraSensor();

    virtual ~CameraSensor();

    /** sets the initial data structures like the camera.
        The camera will be initialized in init() (don't initialize it before).
        @param pose position and orientation of camera wrt.
        the primitive that is given at init()
     */
    virtual void setInitData(Camera* camera, const OdeHandle& odeHandle,
                             const OsgHandle& osgHandle, const osg::Matrix& pose);

    /// changes the relative pose of the camera
    virtual void setPose(const osg::Matrix& pose);

    /// relative pose of the camera
    virtual osg::Matrix getPose();

    /// this function initialized the camera (no need to overload) (Sensor interface)
    virtual void init(Primitive* own, Joint* joint = 0);

    /// overload this function an process the image (use camera->getImage())
    virtual bool sense(const GlobalData& globaldata) = 0;

    /// overload this function and return the number of sensor values
    virtual int getSensorNumber() const = 0;

    /// overload this function and return the sensor values
    virtual int get(sensor* sensors, int length) const = 0;

    /// we update the camera's visual appearance
    virtual void update();

    /// this is implemented based on get(sensor*,int)
    virtual std::list<sensor> getList() const;

  protected:
    /** overload this function to initialized you data structures.
        Use camera->getImage() to get the image from the camera
    */
    virtual void intern_init() = 0;


    Camera* camera;
    OdeHandle odeHandle;
    OsgHandle osgHandle;
    osg::Matrix pose;
    bool isInitDataSet;
  };

}

#endif