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# Representations/Motion/MotionInfo.h

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    00001 /**
    00002 * @file MotionInfo.h
    00003 *
    00004 * Definition of class MotionInfo.
    00005 *
    00006 * @author Martin Lötzsch
    00007 */
    00008
    00009 #ifndef __MotionInfo_h__
    00010 #define __MotionInfo_h__
    00011
    00012 #include "MotionRequest.h"
    00013
    00014
    00015 /**
    00016 * @class MotionInfo
    00017 *
    00018 * Contains information about the motions which are executed by the Motion process.
    00019 *
    00020 * @author Martin Lötzsch
    00021 */
    00022 class MotionInfo
    00023 {
    00024 public:
    00025   /** Constructor */
    00026   MotionInfo();
    00027
    00028   /** The motion request which is executed by the MotionControl module */
    00029   MotionRequest executedMotionRequest;
    00030
    00031   /** If true, the motion is stable, leading to a valid camera matrix */
    00032   bool motionIsStable;
    00033
    00034   /** The height of the neck joint in mm as estimated by the motion modules */
    00035   double neckHeight;
    00036
    00037   /** The tilt of the body in rad */
    00038   double bodyTilt;
    00039
    00040   /**
    00041   * The position inside the step of the walking engine
    00042   * slides from 0 to 1 during one step
    00043   */
    00044   double positionInWalkCycle;
    00045
    00046 };
    00047
    00048 /**
    00049 * Streaming operator that reads a MotionInfo from a stream.
    00050 * @param stream The stream from which is read.
    00051 * @param executedMotionInfo The MotionInfo object.
    00052 * @return The stream.
    00053 */
    00054 In& operator>>(In& stream,MotionInfo& executedMotionInfo);
    00055
    00056 /**
    00057 * Streaming operator that writes a MotionInfo to a stream.
    00058 * @param stream The stream to write on.
    00059 * @param executedMotionInfo The MotionInfo object.
    00060 * @return The stream.
    00061 */
    00062 Out& operator<<(Out& stream, const MotionInfo& executedMotionInfo);
    00063
    00064 #endif // __MotionInfo_h__