ci_colored_blob_omnidirectional_camera_sensor.h

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#ifndef CI_COLORED_BLOB_OMNIDIRECTIONAL_CAMERA_SENSOR_H
#define CI_COLORED_BLOB_OMNIDIRECTIONAL_CAMERA_SENSOR_H

namespace argos {
   class CCI_ColoredBlobOmnidirectionalCameraSensor;
}

#include <argos3/core/control_interface/ci_sensor.h>
#include <argos3/core/utility/math/angles.h>
#include <argos3/core/utility/datatypes/color.h>
#include <vector>

#include <argos3/core/utility/logging/argos_log.h>

namespace argos {

   class CCI_ColoredBlobOmnidirectionalCameraSensor: public CCI_Sensor {

   public:

      struct SBlob {
         /* Color */
         CColor Color;
         /* Angle */
         CRadians Angle;
         /* Distance in cms */
         Real Distance;
         SBlob() :
            Color(CColor::BLACK),
            Distance(0.0f) {
         }
         SBlob(const CColor& c_color,
               const CRadians& c_angle,
               Real f_distance) :
            Color(c_color),
            Angle(c_angle),
            Distance(f_distance) {
         }

         friend std::ostream& operator<<(std::ostream& c_os, const SBlob& s_blob) {
            c_os << "(Color = " << s_blob.Color << "," << "Angle = " << ToDegrees(s_blob.Angle) << ","
                 << "Distance = " << s_blob.Distance << ")";
            return c_os;
         }
      };

      typedef std::vector<SBlob*> TBlobList;

      struct SReadings {
         TBlobList BlobList;
         UInt64 Counter;

         SReadings() :
            Counter(0) {
         }

         friend std::ostream& operator<<(std::ostream& c_os, const SReadings& s_reading) {
            c_os << "Counter: " <<  s_reading.Counter << std::endl;
            for (size_t i = 0; i < s_reading.BlobList.size(); i++) {
               c_os << "Blob[" << i << "]: " << s_reading.BlobList[i] << std::endl;
            }
            return c_os;
         }
      };

   public:

      CCI_ColoredBlobOmnidirectionalCameraSensor() {}

      virtual ~CCI_ColoredBlobOmnidirectionalCameraSensor() {}

      const SReadings& GetReadings() const;

      virtual void Enable() = 0;

      virtual void Disable() = 0;

#ifdef ARGOS_WITH_LUA
      virtual void CreateLuaState(lua_State* pt_lua_state);

      virtual void ReadingsToLuaState(lua_State* pt_lua_state);
#endif

   protected:

      SReadings m_sReadings;

   };

}

#endif