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# Processes/CMD/PackageCognitionMotion.h

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    00001 /**
    00002 * @file PackageCognitionMotion.h
    00003 *
    00004 * Definition of class PackageCognitionMotion.
    00005 *
    00006 * @author Matthias Jüngel
    00007 */
    00008
    00009 #ifndef __PackageCognitionMotion_h_
    00010 #define __PackageCognitionMotion_h_
    00011
    00012 #include "Representations/Perception/LandmarksPercept.h"
    00013 #include "Representations/Cognition/LandmarksState.h"
    00014 #include "Representations/Cognition/RobotPose.h"
    00015 #include "Representations/Cognition/BallModel.h"
    00016 #include "Representations/Cognition/PlayerPoseCollection.h"
    00017 #include "Representations/Cognition/ObstaclesModel.h"
    00018 #include "Representations/Cognition/RobotState.h"
    00019 #include "Representations/Motion/MotionRequest.h"
    00020 #include "Representations/Motion/HeadControlMode.h"
    00021 #include "Representations/Motion/LEDRequest.h"
    00022 #include "Representations/Motion/OdometryData.h"
    00023 #include "Representations/Sound/SoundRequest.h"
    00024 #include "Tools/Player.h"
    00025
    00026 #include "Representations/RoboCup/GameControlData.h"
    00027
    00028 #include "Modules/WalkingEngine/InvKinWalkingParameterSets.h"
    00029 #include "Modules/WalkingEngine/GT2004ParameterSet.h"
    00030 //****for GT2005WalkingEngine****
    00031 #include "Modules/WalkingEngine/GT2005Parameters.h"
    00032 #include "Tools/Debugging/Watchdog.h"
    00033
    00034 /**
    00035 * @class PackageCognitionMotion
    00036 *
    00037 * Contains all data that are sent from the Cognition process to the Motion process
    00038 * in the CMD process layout.
    00039 *
    00040 * @author Matthias Jüngel
    00041 */
    00042 class PackageCognitionMotion
    00043 {
    00044 public:
    00045   /** The LandmarksPercept */
    00046   LandmarksPercept landmarksPercept;
    00047
    00048   /** The seen landmarks */
    00049   LandmarksState landmarksState;
    00050
    00051   /** The robots position and orientation */
    00052   RobotPose robotPose;
    00053
    00054   /** The position and the speed of the ball */
    00055   BallModel ballModel;
    00056
    00057   /** The positions of the own and opponent players */
    00058   PlayerPoseCollection playerPoseCollection;
    00059
    00060   /** The positions of the obstacles */
    00061   ObstaclesModel obstaclesModel;
    00062
    00063   /** Pressed switches and fall downs */
    00064   RobotState robotState;
    00065
    00066   /** Motions requested by the behavior */
    00067   MotionRequest motionRequest;
    00068
    00069   /** The head control mode */
    00070   HeadControlMode headControlMode;
    00071
    00072   /** The ledRequest */
    00073   LEDRequest ledRequest;
    00074
    00075   /** The SoundRequest */
    00076   SoundRequest soundRequest;
    00077
    00078   /** An instance of the current player object */
    00079   Player::teamColor teamColor;
    00080
    00081   /** The data of the game controller */
    00082   GameControlData gameControlData;
    00083
    00084   /** walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior */
    00085   InvKinWalkingParameters invKinWalkingParameters;
    00086   GT2004Parameters gt2004WalkingParameters;
    00087   unsigned long walkParameterTimeStamp;
    00088
    00089   /** The status of the WLan connection (one bit for every dog) */
    00090   int wLanStatus;
    00091
    00092   /** The time when the package was sent */
    00093   unsigned long timeStamp;
    00094
    00095   //****for GT2005WalkingEngine****
    00096   GTWalkParametersIndividual gt2005Parameters;
    00097
    00098   Watchdog* watchdog;
    00099
    00100   /** Constructor */
    00101   PackageCognitionMotion();
    00102 };
    00103
    00104 /**
    00105 * Streaming operator that reads a PackageCognitionMotion from a stream.
    00106 * @param stream The stream from which is read.
    00107 * @param packageCognitionMotion The PackageCognitionMotion object.
    00108 * @return The stream.
    00109 */
    00110 In& operator>>(In& stream, PackageCognitionMotion& packageCognitionMotion);
    00111
    00112 /**
    00113 * Streaming operator that writes a PackageCognitionMotion to a stream.
    00114 * @param stream The stream to write on.
    00115 * @param packageCognitionMotion The PackageCognitionMotion object.
    00116 * @return The stream.
    00117 */
    00118 Out& operator<<(Out& stream, const PackageCognitionMotion& packageCognitionMotion);
    00119
    00120
    00121 #endif //__PackageCognitionMotion_h_