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# Representations/Perception/BodyPosture.h

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    00001 /**
    00002  * @file BodyPosture.h
    00003  *
    00004  * Declaration of class BodyPosture
    00005  */
    00006
    00007 #ifndef __BodyPosture_h_
    00008 #define __BodyPosture_h_
    00009
    00010
    00011 #include "Tools/Streams/InOut.h"
    00012
    00013 /**
    00014  * The class represents the robots body percept
    00015  *
    00016  * The percept consists of current switches and a variable containing
    00017  * whether the robot stands or is crashed. */
    00018 class BodyPosture
    00019 {
    00020 public:
    00021   BodyPosture();
    00022   ~BodyPosture();
    00023
    00024   /** copies another BodyPosture to this one */
    00025   void operator = (const BodyPosture& other);
    00026
    00027   unsigned long frameNumber;
    00028
    00029   double neckHeightCalculatedFromLegSensors;
    00030   double bodyRollCalculatedFromLegSensors;
    00031   double bodyTiltCalculatedFromLegSensors;
    00032
    00033   double neckHeightProvidedByMotionControl;
    00034   double bodyRollProvidedByMotionControl;
    00035   double bodyTiltProvidedByMotionControl;
    00036
    00037   double bodyRollCalculatedFromAccelerationSensors;
    00038   double bodyTiltCalculatedFromAccelerationSensors;
    00039 };
    00040
    00041 /**
    00042  * Streaming operator that reads a BodyPosture from a stream.
    00043  * @param stream The stream from which is read.
    00044  * @param bodyPosture The BodyPosture object.
    00045  * @return The stream.
    00046  */
    00047 In& operator>>(In& stream,BodyPosture& bodyPosture);
    00048
    00049 /**
    00050  * Streaming operator that writes a BodyPosture to a stream.
    00051  * @param stream The stream to write on.
    00052  * @param bodyPosture The BodyPosture object.
    00053  * @return The stream.
    00054  */
    00055 Out& operator<<(Out& stream, const BodyPosture& bodyPosture);
    00056
    00057
    00058 #endif //__BodyPosture_h_