00001 00002 /*************************************************************************** 00003 * vision.h - Vision aspect for Fawkes 00004 * 00005 * Created: Tue May 29 14:47:03 2007 00006 * Copyright 2006-2007 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __ASPECT_VISION_H_ 00025 #define __ASPECT_VISION_H_ 00026 00027 #include <fvutils/base/vision_master.h> 00028 00029 namespace fawkes { 00030 00031 class VisionAspect 00032 { 00033 public: 00034 /** The operation mode of this vision thread. 00035 * @see Thread 00036 */ 00037 typedef enum { 00038 CYCLIC, /**< cyclic mode */ 00039 CONTINUOUS /**< continuous mode */ 00040 } VisionThreadMode; 00041 00042 VisionAspect(VisionThreadMode mode); 00043 virtual ~VisionAspect(); 00044 00045 void init_VisionAspect(firevision::VisionMaster *vision_master); 00046 VisionThreadMode vision_thread_mode(); 00047 protected: 00048 /** Vision master */ 00049 firevision::VisionMaster *vision_master; 00050 private: 00051 VisionThreadMode __vision_thread_mode; 00052 }; 00053 00054 } // end namespace fawkes 00055 00056 #endif