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<h1>CRovio.h</h1> </div>
</div>
<div class="contents">
<a href="_c_rovio_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CROVIO_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CROVIO_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_t_camera_8h.html">mrpt/utils/TCamera.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="hwdrivers_2include_2mrpt_2hwdrivers_2link__pragmas_8h.html">mrpt/hwdrivers/link_pragmas.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_critical_section_8h.html">mrpt/synch/CCriticalSection.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_thread_safe_variable_8h.html">mrpt/synch/CThreadSafeVariable.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_observation_image_8h.html">mrpt/slam/CObservationImage.h</a>></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="preprocessor">#include <<a class="code" href="_c_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.h</a>></span>
<a name="l00040"></a>00040
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">namespace </span>mrpt
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">namespace </span>hwdrivers
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="keyword">using namespace </span>std;
<a name="l00047"></a>00047 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00048"></a>00048 <span class="comment"></span>
<a name="l00049"></a>00049 <span class="comment"> /** A class to interface a Rovio robot (manufactured by WowWee).</span>
<a name="l00050"></a>00050 <span class="comment"> * Supports: Simple motion commands, video streaming. </span>
<a name="l00051"></a>00051 <span class="comment"> */</span>
<a name="l00052"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html">00052</a> <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html" title="A class to interface a Rovio robot (manufactured by WowWee).">CRovio</a>
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054 <span class="keyword">private</span>:
<a name="l00055"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#acdb2006d78f67831c24eee0cfe5709cc">00055</a> <a class="code" href="structmrpt_1_1system_1_1_t_thread_handle.html" title="This structure contains the information needed to interface the threads API on each platform:...">mrpt::system::TThreadHandle</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#acdb2006d78f67831c24eee0cfe5709cc">m_videoThread</a>;
<a name="l00056"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#a53c9464a3e1efbe1c951631421e08343">00056</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#a53c9464a3e1efbe1c951631421e08343">m_videothread_must_exit</a>;
<a name="l00057"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#ab1156ae2372af52ddc012878a8ac62bc">00057</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#ab1156ae2372af52ddc012878a8ac62bc">m_videothread_initialized_done</a>;
<a name="l00058"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#ab3ae6f122dc06b6f07cbbe5b2a309e66">00058</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#ab3ae6f122dc06b6f07cbbe5b2a309e66">m_videothread_initialized_error</a>;
<a name="l00059"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#a9503e1077b4d674860e6941174fbe684">00059</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#a9503e1077b4d674860e6941174fbe684">m_videothread_finished</a>;
<a name="l00060"></a>00060
<a name="l00061"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#aa8430e65309eba063484b707fecb1a9a">00061</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_image_ptr.html">mrpt::slam::CObservationImagePtr</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#aa8430e65309eba063484b707fecb1a9a">buffer_img</a>;
<a name="l00062"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#a4099cafdbde963aebf1af1a1020f72a3">00062</a> <a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html" title="This class provides simple critical sections functionality.">mrpt::synch::CCriticalSection</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#a4099cafdbde963aebf1af1a1020f72a3">buffer_img_cs</a>;
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** This function takes a frame and waits until getLastImage ask for it, and so on.</span>
<a name="l00066"></a>00066 <span class="comment"> */</span>
<a name="l00067"></a>00067 <span class="keywordtype">void</span> thread_video();
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="keywordtype">bool</span> send_cmd_action(<span class="keywordtype">int</span> act, <span class="keywordtype">int</span> speed);
<a name="l00070"></a>00070
<a name="l00071"></a>00071 <span class="keywordtype">bool</span> path_management(<span class="keywordtype">int</span> act);
<a name="l00072"></a>00072
<a name="l00073"></a>00073 <span class="keywordtype">bool</span> path_management(<span class="keywordtype">int</span> act, <span class="keyword">const</span> <span class="keywordtype">string</span> &path_name);
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="keywordtype">bool</span> general_command(<span class="keywordtype">int</span> act, <span class="keywordtype">string</span> &response, <span class="keywordtype">string</span> &errormsg);
<a name="l00076"></a>00076
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="keyword">public</span>:
<a name="l00079"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_options.html">00079</a> <span class="keyword">struct </span><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_options.html">TOptions</a>
<a name="l00080"></a>00080 {
<a name="l00081"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_options.html#afabdd7d90c93b2d6e590e7c292a086fd">00081</a> <span class="keywordtype">string</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_options.html#afabdd7d90c93b2d6e590e7c292a086fd">IP</a>;
<a name="l00082"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_options.html#a4a94ded1e27d91b98399c431a82bd13a">00082</a> <span class="keywordtype">string</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_options.html#a4a94ded1e27d91b98399c431a82bd13a">user</a>;
<a name="l00083"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_options.html#ac5cb4e781747deb613b67d27384d1e78">00083</a> <span class="keywordtype">string</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_options.html#ac5cb4e781747deb613b67d27384d1e78">password</a>;
<a name="l00084"></a>00084
<a name="l00085"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_options.html#a781f3a9cc209fe41fe524387034991f6">00085</a> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">mrpt::utils::TCamera</a> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_options.html#a781f3a9cc209fe41fe524387034991f6">cameraParams</a>; <span class="comment">// Mat. cam. preguntar paco</span>
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_options.html">TOptions</a>();
<a name="l00088"></a>00088 } options;
<a name="l00089"></a>00089
<a name="l00090"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#a4ae2b1916254750d8246dd0699253b9a">00090</a> <span class="keyword">enum</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#a4ae2b1916254750d8246dd0699253b9a">status</a> {idle, driving_home, docking, executing_path, recording_path};
<a name="l00091"></a>00091
<a name="l00092"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_rovio_state.html">00092</a> <span class="keyword">struct </span><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_rovio_state.html">TRovioState</a>{
<a name="l00093"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_rovio_state.html#a8b49c58c293623249c30a9031a8072c3">00093</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html#a4ae2b1916254750d8246dd0699253b9a">status</a> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_rovio_state.html#a8b49c58c293623249c30a9031a8072c3">state</a>;
<a name="l00094"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_rovio_state.html#ae0d4cae7d207fb33d328697240311361">00094</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_rovio_state.html#ae0d4cae7d207fb33d328697240311361">nss</a>; <span class="comment">//Navigation Signal Strength</span>
<a name="l00095"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_rovio_state.html#afe78b51656ccd3af2706a2ada7d288fb">00095</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_rovio_state.html#afe78b51656ccd3af2706a2ada7d288fb">wss</a>; <span class="comment">//Wifi Signal Strength</span>
<a name="l00096"></a>00096 };
<a name="l00097"></a>00097
<a name="l00098"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_encoders.html">00098</a> <span class="keyword">struct </span><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_encoders.html">TEncoders</a>{
<a name="l00099"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_encoders.html#ab8b3248afb26a482f47cf2a7b9522429">00099</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_encoders.html#ab8b3248afb26a482f47cf2a7b9522429">left</a>;
<a name="l00100"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_encoders.html#a992ee58e22dee79fe43ed031fc31c713">00100</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_encoders.html#a992ee58e22dee79fe43ed031fc31c713">right</a>;
<a name="l00101"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_encoders.html#a04a11c8f0555e5580b571752fc0eeb01">00101</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_encoders.html#a04a11c8f0555e5580b571752fc0eeb01">rear</a>;
<a name="l00102"></a><a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_encoders.html#a7c1bfd943660758e4a9e0151d82a3426">00102</a> <a class="code" href="structmrpt_1_1hwdrivers_1_1_c_rovio_1_1_t_encoders.html">TEncoders</a>()
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104 left = 0;
<a name="l00105"></a>00105 right = 0;
<a name="l00106"></a>00106 rear = 0;
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108 }encoders;
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** Establish conection with Rovio and log in its system: Important, fill out "options" members *BEFORE* calling this method.</span>
<a name="l00112"></a>00112 <span class="comment"> * \exception std::runtime On errors</span>
<a name="l00113"></a>00113 <span class="comment"> */</span>
<a name="l00114"></a>00114 <span class="keywordtype">void</span> initialize(); <span class="comment">//string &errormsg_out, string url_out="150.214.109.134", string user_out="admin", string password_out="investigacion");</span>
<a name="l00115"></a>00115 <span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment"> /** move send Rovio the command to move in the specified direcction</span>
<a name="l00117"></a>00117 <span class="comment"> * \param direction 'f'->forward, 'b'->backward, 'r'->right, 'l'->left</span>
<a name="l00118"></a>00118 <span class="comment"> * \return False on error</span>
<a name="l00119"></a>00119 <span class="comment"> */</span>
<a name="l00120"></a>00120 <span class="keywordtype">bool</span> move(<span class="keywordtype">char</span> direction, <span class="keywordtype">int</span> speed=5 );
<a name="l00121"></a>00121 <span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment"> /** rotate send Rovio the command to rotate in the specified direcction</span>
<a name="l00123"></a>00123 <span class="comment"> * 'r'->right, 'l'->left</span>
<a name="l00124"></a>00124 <span class="comment"> * \return False on error</span>
<a name="l00125"></a>00125 <span class="comment"> */</span>
<a name="l00126"></a>00126 <span class="keywordtype">bool</span> rotate(<span class="keywordtype">char</span> direction, <span class="keywordtype">int</span> speed=5 );
<a name="l00127"></a>00127 <span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment"> /** Head positions </span>
<a name="l00129"></a>00129 <span class="comment"> * \return False on error</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a>00131 <span class="keywordtype">bool</span> takeHeadUp();
<a name="l00132"></a>00132 <span class="keywordtype">bool</span> takeHeadMiddle();
<a name="l00133"></a>00133 <span class="keywordtype">bool</span> takeHeadDown();
<a name="l00134"></a>00134
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="comment">/* Path commands */</span>
<a name="l00137"></a>00137 <span class="keywordtype">bool</span> pathRecord();
<a name="l00138"></a>00138 <span class="keywordtype">bool</span> pathRecordAbort();
<a name="l00139"></a>00139 <span class="keywordtype">bool</span> pathRecordSave(<span class="keyword">const</span> <span class="keywordtype">string</span> &path_name);<span class="comment">//Repasar const</span>
<a name="l00140"></a>00140 <span class="keywordtype">bool</span> pathDelete(<span class="keyword">const</span> <span class="keywordtype">string</span> &path_name);<span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** Get list of saved paths</span>
<a name="l00142"></a>00142 <span class="comment"> */</span>
<a name="l00143"></a>00143 <span class="keywordtype">bool</span> pathGetList(<span class="keywordtype">string</span> &path_list);
<a name="l00144"></a>00144 <span class="keywordtype">bool</span> pathRunForward();
<a name="l00145"></a>00145 <span class="keywordtype">bool</span> pathRunBackward();
<a name="l00146"></a>00146 <span class="keywordtype">bool</span> pathRunStop();
<a name="l00147"></a>00147 <span class="keywordtype">bool</span> pathRunPause();
<a name="l00148"></a>00148 <span class="keywordtype">bool</span> pathRename(<span class="keyword">const</span> <span class="keywordtype">string</span> &old_name, <span class="keyword">const</span> <span class="keywordtype">string</span> &new_name);
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="comment"></span>
<a name="l00151"></a>00151 <span class="comment"> /** goHome(bool dock) drives Rovio in front of charging station if the paremeter dock is set to false, otherwise it also docks</span>
<a name="l00152"></a>00152 <span class="comment"> * \return False on error</span>
<a name="l00153"></a>00153 <span class="comment"> */</span>
<a name="l00154"></a>00154 <span class="keywordtype">bool</span> goHome(<span class="keywordtype">bool</span> dock, <span class="keywordtype">int</span> speed = 5);
<a name="l00155"></a>00155 <span class="comment"></span>
<a name="l00156"></a>00156 <span class="comment"> /** Loads the rovio camera calibration parameters (of leave the default ones if not found) (See CGenericSensor), then call to "loadConfig_sensorSpecific"</span>
<a name="l00157"></a>00157 <span class="comment"> * \exception This method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.</span>
<a name="l00158"></a>00158 <span class="comment"> */</span>
<a name="l00159"></a>00159 <span class="keywordtype">void</span> loadConfig(
<a name="l00160"></a>00160 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &configSource,
<a name="l00161"></a>00161 <span class="keyword">const</span> std::string &section );
<a name="l00162"></a>00162 <span class="comment"></span>
<a name="l00163"></a>00163 <span class="comment"> /** This function launchs a thread with the function "thread_video()" which gets frames into a buffer.</span>
<a name="l00164"></a>00164 <span class="comment"> * After calling this method, images can be obtained with getNextImageSync()</span>
<a name="l00165"></a>00165 <span class="comment"> * \return False on error</span>
<a name="l00166"></a>00166 <span class="comment"> * \sa getNextImageSync</span>
<a name="l00167"></a>00167 <span class="comment"> */</span>
<a name="l00168"></a>00168 <span class="keywordtype">bool</span> retrieve_video();<span class="comment">//como la protejo para que no se llame dos veces??????????????????????????????????????????????</span>
<a name="l00169"></a>00169 <span class="comment"></span>
<a name="l00170"></a>00170 <span class="comment"> /** This function stops and joins the thread launched by "retrieve_video()".</span>
<a name="l00171"></a>00171 <span class="comment"> * \return False on error</span>
<a name="l00172"></a>00172 <span class="comment"> */</span>
<a name="l00173"></a>00173 <span class="keywordtype">bool</span> stop_video();
<a name="l00174"></a>00174 <span class="comment"></span>
<a name="l00175"></a>00175 <span class="comment"> /** Returns the next frame from Rovio's live video stream, after starting the live streaming with retrieve_video()</span>
<a name="l00176"></a>00176 <span class="comment"> * \return False on error</span>
<a name="l00177"></a>00177 <span class="comment"> * \sa retrieve_video, captureImageAsync</span>
<a name="l00178"></a>00178 <span class="comment"> */</span>
<a name="l00179"></a>00179 <span class="keywordtype">bool</span> getNextImageSync(<a class="code" href="structmrpt_1_1slam_1_1_c_observation_image_ptr.html">CObservationImagePtr</a>& lastImage );
<a name="l00180"></a>00180 <span class="comment"></span>
<a name="l00181"></a>00181 <span class="comment"> /** Returns a snapshot from Rovio, if rectified is set true, the returned image is rectified with the parameters of intrinsic_matrix and distortion_matrix.</span>
<a name="l00182"></a>00182 <span class="comment"> * This function works asynchronously and does not need to have enabled the live video streaming.</span>
<a name="l00183"></a>00183 <span class="comment"> * \return False on error</span>
<a name="l00184"></a>00184 <span class="comment"> * \sa captureImageSync</span>
<a name="l00185"></a>00185 <span class="comment"> */</span>
<a name="l00186"></a>00186 <span class="keywordtype">bool</span> captureImageAsync( <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a>&out_img, <span class="keywordtype">bool</span> recttified);<span class="comment">//string pict_name, </span>
<a name="l00187"></a>00187
<a name="l00188"></a>00188 <span class="keywordtype">bool</span> isVideoStreamming() <span class="keyword">const</span>; <span class="comment">//!< Return true if video is streaming correctly \sa retrieve_video</span>
<a name="l00189"></a>00189 <span class="comment"></span>
<a name="l00190"></a>00190
<a name="l00191"></a>00191 <span class="comment">//Rovio State</span><span class="comment"></span>
<a name="l00192"></a>00192 <span class="comment"> /** Returns a TRovioState with internal information of Rovio (State, Navigation Signal Strength, Wifi Signal Strength)</span>
<a name="l00193"></a>00193 <span class="comment"> * \return False on error</span>
<a name="l00194"></a>00194 <span class="comment"> */</span>
<a name="l00195"></a>00195 <span class="keywordtype">bool</span> getRovioState(TRovioState &state);
<a name="l00196"></a>00196 <span class="comment"></span>
<a name="l00197"></a>00197 <span class="comment"> /** Returns a TEncoders with information of Rovio encoders (since last read, it seems Rovio is continuously reading with unknown sample time)</span>
<a name="l00198"></a>00198 <span class="comment"> * \return False on error</span>
<a name="l00199"></a>00199 <span class="comment"> */</span>
<a name="l00200"></a>00200 <span class="keywordtype">bool</span> getEncoders(TEncoders &encoders);
<a name="l00201"></a>00201 <span class="comment"></span>
<a name="l00202"></a>00202 <span class="comment"> /** Returns the Rovio's pose</span>
<a name="l00203"></a>00203 <span class="comment"> * \return False on error</span>
<a name="l00204"></a>00204 <span class="comment"> */</span>
<a name="l00205"></a>00205 <span class="keywordtype">bool</span> getPosition(<a class="code" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose.">mrpt::math::TPose2D</a> &out_pose);
<a name="l00206"></a>00206
<a name="l00207"></a>00207
<a name="l00208"></a>00208
<a name="l00209"></a>00209 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html" title="A class to interface a Rovio robot (manufactured by WowWee).">CRovio</a>();
<a name="l00210"></a>00210 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_rovio.html" title="A class to interface a Rovio robot (manufactured by WowWee).">CRovio</a>();
<a name="l00211"></a>00211
<a name="l00212"></a>00212 }; <span class="comment">// End of class</span>
<a name="l00213"></a>00213
<a name="l00214"></a>00214 } <span class="comment">// End of namespace</span>
<a name="l00215"></a>00215
<a name="l00216"></a>00216 } <span class="comment">// End of namespace</span>
<a name="l00217"></a>00217
<a name="l00218"></a>00218 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.2</a> for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
