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SbotCam.h

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00001 /*
00002     Enki - a fast 2D robot simulator
00003     Copyright (C) 1999-2005 Stephane Magnenat <nct@ysagoon.com>
00004      Copyright (C) 2005 Laboratory of Intelligent Systems, EPFL, Lausanne
00005     See AUTHORS for details
00006 
00007     This program is free software; the authors of any publication 
00008     arising from research using this software are asked to add the 
00009     following reference:
00010     Enki - a fast 2D robot simulator part of the Teem framework
00011     http://teem.epfl.ch
00012     Stephane Magnenat <stephane.magnenat@epfl.ch>,
00013     Markus Waibel <markus.waibel@epfl.ch>
00014     Laboratory of Intelligent Systems, EPFL, Lausanne.
00015 
00016     You can redistribute this program and/or modify
00017     it under the terms of the GNU General Public License as published by
00018     the Free Software Foundation; either version 2 of the License, or
00019     (at your option) any later version.
00020 
00021     This program is distributed in the hope that it will be useful,
00022     but WITHOUT ANY WARRANTY; without even the implied warranty of
00023     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00024     GNU General Public License for more details.
00025 
00026     You should have received a copy of the GNU General Public License
00027     along with this program; if not, write to the Free Software
00028     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00029 */
00030 
00031 #ifndef __SBOTCAM_H
00032 #define __SBOTCAM_H
00033 
00034 #include <enki/Interaction.h>
00035 #include <enki/PhysicalEngine.h>
00036 #include <enki/interactions/CircularCam.h>
00037 
00038 #include <valarray>
00039 
00043 namespace Enki
00044 {
00045     class Sbot;
00046     
00048 
00049     class SbotCam : public LocalInteraction
00050     {
00051     public:
00053         std::valarray<double> zbuffer;
00055         std::valarray<An::Color> image;
00056         
00057     protected:
00059         CircularCam cam0;
00061         CircularCam cam1;
00062 
00063     public :
00065         SbotCam(Sbot *owner, unsigned halfPixelCount); 
00067         virtual ~SbotCam(){}
00068         virtual void init();
00069         virtual void objectStep (double dt, PhysicalObject *po, World *w);
00070         virtual void wallsStep(World *w);
00071         virtual void finalize(double dt);
00073         void setFogConditions(bool useFog, double density = 0.0, An::Color threshold = An::Color::black);
00075         void setRange(double range);
00077         void setPixelOperationFunctor(PixelOperationFunctor *pixelOperationFunctor);
00078     };
00079 }
00080 #endif
00081 

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