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# Modules/TeamBallLocator/GT2005Particles/GT2005ParticleSend.h

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    00001 /**
    00002  * @file GT2005ParticleSend.h
    00003  *
    00004  * This file contains a Particle Representation used by the GT2005BallLocator.
    00005  *
    00006  * @author <a href="mailto:christinez@gmx.de">Christine Zarges</a>
    00007  * @author <a href="mailto:Thorsten.Kerkhof@gmx.de">Thorsten Kerkhof</a>
    00008  */
    00009
    00010 #ifndef __GT2005ParticleSend_h_
    00011 #define __GT2005ParticleSend_h_
    00012
    00013 #include "Tools/Debugging/GenericDebugData.h"
    00014 #include "Tools/Math/Common.h"
    00015 #include "Tools/Math/Vector2.h"
    00016 #include "Tools/Math/Pose2D.h"
    00017 #include "Tools/FieldDimensions.h"
    00018 #include "Tools/RingBuffer.h"
    00019 #include "Representations/Cognition/RobotPose.h"
    00020 #include "Representations/Perception/ObstaclesPercept.h"
    00021 #include "Representations/Motion/OdometryData.h"
    00022 #include "Representations/Cognition/SampleSet.h"
    00023 #include <math.h>
    00024
    00025 /**
    00026 * @class GT2005ParticleSend
    00027 */
    00028 class GT2005ParticleSend
    00029 {
    00030 public:
    00031   //Constructor:
    00032   GT2005ParticleSend();
    00033
    00034   //Constructur, all saved values are given directly:
    00035   GT2005ParticleSend(short int x,
    00036                      short int y,
    00037                      short int vx,
    00038                      short int vy,
    00039                      unsigned short int prob,
    00040                      unsigned short int vProb);
    00041
    00042   /* Typ char
    00043      range -128 to 127
    00044      size 1 Byte
    00045
    00046      Typ unsigned short int
    00047      range 0 to 65535 (if 2 Byte)
    00048      size 2 or 4 Byte
    00049    */
    00050   unsigned short int probability;
    00051   unsigned short int vprob;
    00052   short int x;
    00053   short int y;
    00054   short int vx;
    00055   short int vy;
    00056
    00057   //Function to get and set more than one value in one step:
    00058   void setParameters(short int x,
    00059                      short int y,
    00060                      short int vx,
    00061                      short int vy,
    00062                      unsigned short int prob,
    00063                      unsigned short int vProb);
    00064 };
    00065
    00066 Out& operator<<(Out& stream, const GT2005ParticleSend& pbs);
    00067 In& operator>>(In& stream, GT2005ParticleSend& pbs);
    00068
    00069 #endif// __GT2005ParticleSend_h_