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CHAPTER 24 MAC OS X DEVELOPMENT: THE APPLICATION FRAMEWORKS 441 On Mac OS X, this abstraction goes deep. With Core Video, developers can manipulate the individual frames of raw video, using a standard buffer to bridge differences between data types, and a pipeline of discrete processing steps for the ultimate in control. Following are some things Core Video enables: Using Core Image filters Compositing video streams together Editing the content of frames Transforming the physical geometry of a video Mapping a video onto other surfaces or an OpenGL scene Core Video also takes care of things most people take for granted, like making sure the picture remains synced with the sound, despite the vagaries of refresh rates, CPU operations, user interactions, and the myriad flavors of lag.

- (id) init { if (self = [super init]) { tires = [[NSMutableArray alloc] init]; int i; for (i = 0; i < 4; i++) { [tires addObject: [NSNull null]]; } } return (self); } // init

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To use wall following, you simply mount a set of small wheels on the side of your chassis, with the wheels mounted perpendicular to the game field. These wheels will most likely have no tires mounted on them; you can use just the plastic wheels. Since they are being used as guides, we don t need them to get any real traction. You can see a set of wall following wheels that I have attached to my DemoBot in Figures 3 13 and 3 14. Now, you program your robot to run forward with a very slight turn into the wall so that the robot will run along the wall. Don t overdo the turn into the wall; there s no need to make a lot of extra work for your robot by causing too much friction between the robot and the wall. You want to turn just enough that the robot will use the wall as a guide.

All this image processing is great, but that sort of assumes you have an image to work with in the first place. The formidable task of reading and parsing the myriad image formats out there used to be the job of Core Graphics. Eventually, the size of the task and the ubiquity of its need necessitated spinning off image interpretation into its own framework, called Image I/O. Despite all the goings-on behind the scenes, the actual use of Image I/O is pretty easy to understand. You ve got your I, which is to say, input, and you ve got your O, which is to say, output. For input, Image I/O introduces image sources, an abstraction from the raw data that contains multiple images, thumbnails, metadata, and important but easily overlooked things like color spaces. For output, Image I/O uses image destinations, which are like the same thing, in reverse. If it sounds simple, that s because it is. Image I/O is simply the best, most efficient way to move image data into and out of your applications. There isn t much more to it than that.

You ve seen self = [super init] a bajillion times already; you ve practically memorized it. As you know by now, it just makes sure that the superclass gets the object up and running. Next, we create an NSMutableArray. There s a handy NSMutableArray method called

Not everyone who develops on the Mac has the luxury of developing for the Mac, and not everyone writing Mac applications has the luxury of using Cocoa and Objective-C. Fortunately, on Mac OS X Leopard, applications written in any number of languages with any number of frameworks all live and work side by side, as shown in Figure 24-18.

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Though primarily intended for development in Objective-C, Cocoa has been bridged to several other languages. Although C and C++ are not completely compatible, they share enough that C++ programmers can mix their native language with Objective-C via a hybrid known as Objective-C++. Java developers have their own application framework, but there is a Cocoa Java bridge. It has been deprecated, but for those who learned Java as a teaching language, it s a great way to transition to Cocoa before learning Objective-C.

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