detection.h

detection.h

//===================================
// include guard (safety measure)
#ifndef DETECTION_H // if not defined
#define DETECTION_H // define

//===================================
// forward declared dependencies

//===================================
// included dependencies
#include <iostream>
#include <emc/io.h>		// embedded motion control package
#include <emc/rate.h>
#include <ctime>
#include <string>
#include <unistd.h>
#include <stdlib.h>
#include <cmath>		// math operation such as sqrt(),cos()
#include <math.h>		// more math
#include <fstream>

#include "picomath.h"
#include "opencvf.h"    // contains all the opencv dependencies

#include "eigen3/Eigen/Dense"

//===================================
// the actual class
class Detection {
private:
    //general
    Point curloc;   // current position of the robit (x,y,theta) [m] and [rad].
    Point origin;   // origin of the coordinate system (x,y,theta) [m] and [rad].

    // mprocessing
    std::vector<Point> corners;
    bool plot;

    // sitrec
    Situation sit;
    Situation sit_prev;
    int tol_filter;
    int filter;

    // slam

// computational entities
    // measurement processing
    void mprocessing(emc::IO &io, emc::LaserData scan, emc::OdometryData odom);
    // situation recognition
    void sitrec(emc::IO &io, emc::LaserData scan, emc::OdometryData odom);
    // slam
    void slam(emc::IO &io, emc::LaserData scan, emc::OdometryData odom);

// subcomputational entities
    // slam
    void prediction(emc::OdometryData odom);
    void save_marker(emc::OdometryData odom, Point x);
    int check_marker(Point x, emc::LaserData y);
    void update(emc::OdometryData odom, std::vector<Point> edges, emc::LaserData scan);

    void MyEllipse( cv::Mat img, cv::Point point, cv::Scalar color );
    void MyCircle(cv::Mat img, cv::Point center, int radius, const cv::Scalar color);
    void drawing(std::vector<Point> edges);
    void drawPoint(int x, int y, int color);
    void grid();
    cv::Point2f m2px(cv::Point2f, int, int);
    cv::Point2f px2m(cv::Point2f, int, int);

public:
// coordinators/composers
    void detection(emc::IO &io, emc::LaserData scan, emc::OdometryData odom);

// monitors
    bool monitor();

// configurators
    void ResetOdomOrigin(Point current_location);
    void ResetOdomOrigin(emc::OdometryData current_location);

// class entities
    // constructors (sets default values or input values to the private variables when an object of class Detection is made for the first time)
    Detection();            // default values

    // getters (able to get values of the private variables of this class)
    Point getCurrentLocation();
    std::vector<Point> getCorners();
    Situation getSituation();

    // setters (able to set values to the private variables of this class)

};

#endif // CONVERT_H