Modules/BallLocator/BallLocator.h

Go to the documentation of this file.

/**
* @file BallLocator.h
* 
* This file contains a generic class for Ball-Localization.
*/

#ifndef __BallLocator_h_
#define __BallLocator_h_


#ifdef _WIN32
#pragma warning(disable:4786) 
// the constructor with all it's long parameter type names results in a too
// long debug identifier
#endif

#include "Tools/Module/Module.h"

#include "Representations/Behavior/BallHandling.h"
#include "Representations/Perception/BallPercept.h"
#include "Representations/Perception/BodyPercept.h"
#include "Representations/Perception/CalibrationRequest.h"
#include "Representations/Perception/CameraMatrix.h"
#include "Representations/Perception/LandmarksPercept.h"
#include "Representations/Perception/ObstaclesPercept.h"
#include "Representations/Perception/SensorDataBuffer.h"
#include "Representations/Cognition/BallModel.h"
#include "Representations/Cognition/RobotPose.h"
#include "Representations/Cognition/SampleSet.h"
#include "Representations/Cognition/GTCamWorldState.h"
#include "Representations/Motion/MotionInfo.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/RoboCup/GameControlData.h"
#include "Representations/Cognition/RobotPoseCollection.h"
#include "GT2005Particles/GT2005ParticleContainer.h"

/**
* @class BallLocatorInterfaces
* 
* The interfaces of the BallLocator module.
*/
class BallLocatorInterfaces
{
public:
  /** Constructor.*/
  BallLocatorInterfaces(
    const OdometryData& odometryData,
    const CameraMatrix& cameraMatrix,
    const BallPercept& ballPercept,
    const BodyPercept& bodyPercept,
    const LandmarksPercept& landmarksPercept,
    const MotionInfo& motionInfo,
    const ObstaclesPercept& obstaclesPercept,
    const RobotPose& robotPose,
    const SampleSetProxy<PoseSample>& selfLocatorSamples,
    const CalibrationRequest& calibrationRequest,
    const SensorDataBuffer& sensorDataBuffer,
    const GameControlData& gameControlData,
    const GTCamWorldState& gtCamWorldState,
    const RobotPoseCollection& robotPoseCollection,
    BallModel& ballModel,
    GT2005ParticleContainer& ballLocatorSample,
    const BallHandling& ballHandling
    )
    : 
    odometryData(odometryData),
    cameraMatrix(cameraMatrix),
    ballPercept(ballPercept),
    bodyPercept(bodyPercept),
    landmarksPercept(landmarksPercept),
    motionInfo(motionInfo),
    obstaclesPercept(obstaclesPercept),
    robotPose(robotPose),
    selfLocatorSamples(selfLocatorSamples),
    calibrationRequest(calibrationRequest),
    sensorDataBuffer(sensorDataBuffer),
    gameControlData(gameControlData),
    gtCamWorldState(gtCamWorldState),
    robotPoseCollection(robotPoseCollection),
    ballModel(ballModel),
    ballLocatorSamples(ballLocatorSample),
    ballHandling(ballHandling)
  {}
  
  /** The odometry data provided by the motion modules */
  const OdometryData& odometryData;
  
  /** The offset and the rotation of the camera */
  const CameraMatrix& cameraMatrix;
  
  /** The ball percept that was generated last */
  const BallPercept& ballPercept;
  
  /** The body percept that was generated last */
  const BodyPercept& bodyPercept;

  /** The landmarkspercept that was generated last */
  const LandmarksPercept& landmarksPercept;

  /** The motion Info of the last performed motion */
  const MotionInfo& motionInfo;

  /** The obstaclespercept that was generated last */
  const ObstaclesPercept& obstaclesPercept;

  /** The robots position that was calculated last */
  const RobotPose& robotPose;
  
  /** The self locator samples that were calculated last */
  const SampleSetProxy<PoseSample>& selfLocatorSamples;

  /** The calibration request */
  const CalibrationRequest& calibrationRequest;

  /** The sensor data buffer */
  const SensorDataBuffer& sensorDataBuffer;

  /** Messages that are sent by the referee */ 
  const GameControlData& gameControlData;

  /** The worldstate generated by the GTCam */
  const GTCamWorldState& gtCamWorldState;

  /** collection of candidate robot poses */
  const RobotPoseCollection& robotPoseCollection;

  /** The ball position to be changed */
  BallModel& ballModel;

  /** The ball locator samples */
  GT2005ParticleContainer& ballLocatorSamples;

  /** Behavior feedback about the handling of the ball */
  const BallHandling& ballHandling;
};

/**
* @class BallLocator 
*
* The Base class for ball locators
*
* It is the task of ball modeling to keep track of the location of 
* the ball even if the ball is currently not seen.
*/
class BallLocator : public Module, public BallLocatorInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the BallLocator module.
  */
  BallLocator(const BallLocatorInterfaces& interfaces)
    : BallLocatorInterfaces(interfaces)
  {}
  
  /** Destructor */
  virtual ~BallLocator() {}
};

#endif //__BallLocator_h_

---