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ProjectInterface.h

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00001 //-*-c++-*-
00002 #ifndef INCLUDED_ProjectInterface_h_
00003 #define INCLUDED_ProjectInterface_h_
00004 
00005 class BehaviorBase;
00006 class FilterBankGenerator;
00007 class SegmentedColorGenerator;
00008 
00009 //! A collection of the global variables which should be set by a project to use the Tekkotsu framework
00010 /*! You don't necessarily need to define all of these, but if you want
00011  *  to use the built in demo behaviors, you may need to set some
00012  *  values in here appropriately so that the demos can adapt to your
00013  *  project's configuration.
00014  *  
00015  *  Any references should be instantiated in your own project files
00016  *  (since you can't reassign a reference)
00017  *
00018  *  Any pointers are instantiated in ProjectInterface.cc and
00019  *  initialized to NULL. You can reassign them as you see fit.
00020  *
00021  *  Currently, all required members are references (so they can't be
00022  *  set to NULL and you'll get errors if you leave them out) and all
00023  *  optional settings are pointers so you can ignore them if you want.
00024  */
00025 namespace ProjectInterface {
00026   
00027   //! REQUIRED: you must define a behavior which will be started when the boot is complete
00028   /*! This is similar in idea to the Linux init process - it should do
00029    *  some basic initialization and then launch any other behavior you
00030    *  would like to run at boot. */
00031   extern BehaviorBase& startupBehavior;
00032 
00033   //! A collection of the various stages of vision processing.  None of these are absolutely required, but are needed to run included demo behaviors and TekkotsuMon modules
00034   /*! @name Vision Setup */
00035   //! pointer to generator
00036   extern FilterBankGenerator * defRawCameraGenerator;
00037   extern FilterBankGenerator * defInterleavedYUVGenerator;
00038   extern FilterBankGenerator * defColorJPEGGenerator;
00039   extern FilterBankGenerator * defGrayscaleJPEGGenerator;
00040   extern SegmentedColorGenerator * defSegmentedColorGenerator;
00041   extern FilterBankGenerator * defRLEGenerator;
00042   extern FilterBankGenerator * defRegionGenerator;
00043   //@}
00044 
00045   //! Default source IDs for the various generators; These are given default values, but you can reassign them if you like.
00046   /*! @name Vision SIDs */
00047   //! source id for event
00048   extern unsigned int visRawCameraSID;
00049   extern unsigned int visInterleaveSID;
00050   extern unsigned int visColorJPEGSID;
00051   extern unsigned int visGrayscaleJPEGSID;
00052   extern unsigned int visSegmentSID;
00053   extern unsigned int visRLESID;
00054   extern unsigned int visRegionSID;
00055   extern unsigned int visPinkBallSID;
00056   extern unsigned int visBlueBallSID;
00057   extern unsigned int visHandSID;
00058   //@}
00059 
00060   //! Allows you to request a particular layer abstractly - this isn't used by the framework, just a suggestion for clarity
00061   /*! @name Layer Resolutions */
00062   extern unsigned int doubleLayer;   //!< ERS-2xx: 352*288; ERS-7 416*320 (requires non-trivial computation)
00063   extern unsigned int fullLayer;     //!< ERS-2xx: 176*144; ERS-7 208*160
00064   extern unsigned int halfLayer;     //!< ERS-2xx: 88*72; ERS-7 104*80
00065   extern unsigned int quarterLayer;  //!< ERS-2xx: 44*36; ERS-7 52*40
00066   extern unsigned int eighthLayer;   //!< ERS-2xx: 22*18; ERS-7 26*20 (simply a bigger interleave referencing quarterLayer)
00067   extern unsigned int sixteenthLayer;//!< ERS-2xx: 11*9; ERS-7 13*10 (simply a bigger interleave referencing quarterLayer)
00068   //@}
00069 }
00070 
00071 /*! @file
00072  * @brief Defines ProjectInterface namespace - a collection of the global variables which should be set by a project to use the Tekkotsu framework
00073  * @author ejt (Creator)
00074  *
00075  * $Author: ejt $
00076  * $Name: tekkotsu-2_2_2 $
00077  * $Revision: 1.6 $
00078  * $State: Exp $
00079  * $Date: 2004/12/23 01:47:07 $
00080  */
00081 
00082 #endif

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