Representations/Perception/BodyPercept.h

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/**
 * @file BodyPercept.h
 * 
 * Declaration of class BodyPercept
 */ 

#ifndef __BodyPercept_h_
#define __BodyPercept_h_


#include "Tools/Streams/InOut.h"
#include "Tools/Math/Vector3.h"

/**
 * The class represents the robots body percept
 *
 * The percept consists of current switches and a variable containing
 * whether the robot stands or is crashed. */
class BodyPercept
{
public:

  enum States { undefined, standing, crashed, rollLeft, rollRight, pickedUp };


  /** bit position of switch bits in switches value */
  enum Switches { 
                  backMiddle = 0,
                  backFront,
                  backBack,
                  head,
                  mouth,
                  chin,
                  numOfSwitches};
  
  enum MouthStates { mouthOpen, mouthClosed };
  
  Vector3<double> acceleration;

  BodyPercept();
  ~BodyPercept();

  /**< The frame number when perceived. */
  unsigned long frameNumber; 

  /**
  * The functions sets the frame number
  */
  void setFrameNumber(unsigned long frameNumber) {this->frameNumber = frameNumber;}

  void setState(const States s) {state = s;}
  States getState() const {return state;}

  void setSwitches(const int s) {switches = s;}
  int getSwitches() const {return switches;}

  void setMouthState(const MouthStates t) {mouthState = t;}
  MouthStates getMouthState() const {return mouthState;}

  void setBodyPSDHighValue(bool value) {bodyPSDHighValue = value;}
  bool getBodyPSDHighValue() const {return bodyPSDHighValue;}

  void setBodyPSDDistance(double value) {bodyPSDDistance = value;}
  double getBodyPSDDistance() const {return bodyPSDDistance;}

  /** copies another BodyPercept to this one */
  void operator = (const BodyPercept& other);

  static const char* getStateName(States s)
  {
    switch (s)
    {
      case undefined: return "undefined";
      case standing: return "standing";
      case crashed: return "crashed";
      case rollLeft: return "rollLeft";
      case rollRight: return "rollRight";
      case pickedUp: return "pickedUp";
      default: return "please edit BodyPercept::getStateName";
    }
  }

private:

  /**
   * current state of robot position
   * if crashed or standing
   */
  States state;

  /** value representing pressed switches bits according to switches enum */
  int switches;

  /** The state of the mouth*/
  MouthStates mouthState;

  /** Flag, set to true, if the body PSD has a high value, indicating something 
      in front of the robot*/
  bool bodyPSDHighValue;

  /** The measured distance (0 - 5 cm) of objects in front of the body PSD*/
  double bodyPSDDistance;
};

/**
 * Streaming operator that reads a BodyPercept from a stream.
 * @param stream The stream from which is read.
 * @param bodyPercept The BodyPercept object.
 * @return The stream.
 */ 
In& operator>>(In& stream,BodyPercept& bodyPercept);
 
/**
 * Streaming operator that writes a BodyPercept to a stream.
 * @param stream The stream to write on.
 * @param bodyPercept The BodyPercept object.
 * @return The stream.
 */ 
Out& operator<<(Out& stream, const BodyPercept& bodyPercept);


#endif //__BodyPercept_h_

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