source: flair-src/trunk/demos/OpticalFlow/uav/src/DemoOpticalFlow.h@ 122

Last change on this file since 122 was 122, checked in by Sanahuja Guillaume, 6 years ago

modifs uav vrpn i686

File size: 1.6 KB
Line 
1// created: 2011/05/01
2// filename: DemoOpticalFlow.h
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: demo optical flow
10//
11//
12/*********************************************************************/
13//------------
14
15#ifndef DEMOOPTICALFLOW_H
16#define DEMOOPTICALFLOW_H
17
18#include <UavStateMachine.h>
19
20namespace flair {
21 namespace core {
22 class cvmatrix;
23 }
24 namespace gui {
25 class GroupBox;
26 class DoubleSpinBox;
27 }
28 namespace filter {
29 class OpticalFlow;
30 class OpticalFlowSpeed;
31 class LowPassFilter;
32 class CvtColor;
33 }
34 namespace sensor {
35 class TargetController;
36 }
37}
38
39class DemoOpticalFlow : public flair::meta::UavStateMachine {
40
41 public:
42 DemoOpticalFlow(flair::sensor::TargetController *controller);
43 ~DemoOpticalFlow();
44
45 protected:
46 void SignalEvent(Event_t event);
47 void ExtraCheckJoystick(void);
48 const flair::core::AhrsData *GetReferenceOrientation(void);
49
50 flair::gui::GroupBox* opticalFlowGroupBox;
51 flair::gui::DoubleSpinBox *maxXSpeed,*maxYSpeed;
52 flair::core::cvmatrix *opticalFlowReference;
53 flair::filter::Pid *u_x, *u_y;
54 flair::filter::LowPassFilter* opticalFlowSpeedFiltered;
55 flair::filter::CvtColor* greyCameraImage;
56 flair::core::AhrsData *customReferenceOrientation;
57
58 private:
59 flair::filter::OpticalFlow *opticalFlow;
60 flair::filter::OpticalFlowSpeed *opticalFlowSpeed;
61};
62
63#endif // DEMOOPTICALFLOW_H
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