/* 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 INCLUDED_VisionPacketDecoder_h
#define INCLUDED_VisionPacketDecoder_h

#include "../../../agent/Vision/VisionInterface.h"

class RobotDataPacket;

#include "PacketDecoder.h"

using namespace VisionInterface;

/*------------------------------------------------------------------
CLASS
  VisionPacketDecoder

DESCRIPTION
  Decodes world model data into the original data form.
------------------------------------------------------------------*/
class VisionPacketDecoder : public PacketDecoder {
public:
  void decode(VObject *obj,uchar **data);
  bool decode(ObjectInfo *obj_info,RobotDataPacket *packet);
  bool decode(RadialObjectMap *vis_map,RobotDataPacket *packet);
private:
};

#endif