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# Processes/CMD/PackageMotionCognition.h

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    00001 /**
    00002 * @file PackageMotionCognition.h
    00003 *
    00004 * Definition of class PackageMotionCognition.
    00005 *
    00006 * @author Martin Lötzsch
    00007 */
    00008
    00009 #ifndef __PackageMotionCognition_h_
    00010 #define __PackageMotionCognition_h_
    00011
    00012 #include "Representations/Motion/MotionInfo.h"
    00013 //****for GT2005WalkingEngine****
    00014 #include "Modules/WalkingEngine/GT2005DebugData.h"
    00015
    00016 /**
    00017 * @class PackageMotionCognition
    00018 *
    00019 * Contains all data that are sent from the Motion process to the Cognition process
    00020 * in the CMD process layout.
    00021 *
    00022 * @author Martin Lötzsch
    00023 */
    00024 class PackageMotionCognition
    00025 {
    00026 public:
    00027   /** The time when the package was sent */
    00028   unsigned long timeStamp;
    00029
    00030   /** the MotionRequest that is currently executed be the MotionControl */
    00031   MotionInfo motionInfo;
    00032
    00033   //****for GT2005WalkingEngine****
    00034   GT2005DebugData gt2005DebugData;
    00035 };
    00036
    00037 /**
    00038 * Streaming operator that reads a PackageMotionCognition from a stream.
    00039 * @param stream The stream from which is read.
    00040 * @param packageMotionCognition The PackageMotionCognition object.
    00041 * @return The stream.
    00042 */
    00043 In& operator>>(In& stream, PackageMotionCognition& packageMotionCognition);
    00044
    00045 /**
    00046 * Streaming operator that writes a PackageMotionCognition to a stream.
    00047 * @param stream The stream to write on.
    00048 * @param packageMotionCognition The PackageMotionCognition object.
    00049 * @return The stream.
    00050 */
    00051 Out& operator<<(Out& stream, const PackageMotionCognition& packageMotionCognition);
    00052
    00053
    00054 #endif //__PackageMotionCognition_h_