shapedet: Better API

[eurobot/public.git] / src / hokuyo / shape-detect / shape_detect.h

diff --git a/src/hokuyo/shape-detect/shape_detect.h b/src/hokuyo/shape-detect/shape_detect.h
index 9b8f3ae29cac2def9bdcfb80c9408327138b935f..475a32eaf60ca5e05309702467a7c91d3c963c92 100644 (file)
--- a/src/hokuyo/shape-detect/shape_detect.h
+++ b/src/hokuyo/shape-detect/shape_detect.h
@@ -220,6 +220,13 @@ class Shape_detect
                        Point a; /**< start point from a line. */
                        Point b; /**< end point from a line. */
                } Line;
+
+               typedef struct {
+                       Point center;
+               } Arc;
+
+               void prepare(const unsigned short laser_scan[]);
+               
                
                /**
                 * There are detected line segments in input array of measured
@@ -228,7 +235,8 @@ class Shape_detect
                 * @param [out] &lines vector which contains detected lines.
                 * @ingroup shapedet
                 */
-               void shape_detect(const unsigned short laser_scan[], std::vector<Line> &lines);
+               void line_detect(std::vector<Line> &lines);
+               void arc_detect(std::vector<Arc> &lines);
 
        private:
                /**