/* LICENSE:
  =========================================================================
    CMPack'04 Source Code Release for OPEN-R SDK 1.1.5-r2 for ERS7
    Copyright (C) 2004 Multirobot Lab [Project Head: Manuela Veloso]
    School of Computer Science, Carnegie Mellon University
    All rights reserved.
  ========================================================================= */

#ifndef _SPOutWMDebugEncoder_H_
#define _SPOutWMDebugEncoder_H_

#include "../headers/DogTypes.h"
#include "../headers/SPOutEncoder.h"
#include "../headers/WMDebug.h"

class WorldModel;

static const int NUM_WMDEBUG = 10;
static const int WMDEBUG_ENCODER_SIZE=NUM_WMDEBUG*WMDEBUG_SIZE;

/*------------------------------------------------------------------
CLASS
  SPOutWMDebugEncoder

DESCRIPTION
  Encodes SPOut output related to world model's debug system
------------------------------------------------------------------*/

class SPOutWMDebugEncoder : public SPOutEncoder {
public:
  int encodeWMDebug(uchar *buf, WorldModel *wm);
  void encodeWMD(uchar **buf,const WMDebug & wmd);
};

#include "WorldModel.h"
#endif