Representations/Perception/CollisionPercept.h

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/**
* @file CollisionPercept.h
* 
* Declaration of class CollisionPercept
*
* @author <a href="mailto:goehring@informatik.hu-berlin.de">Daniel Goehring</a>
*/ 

#ifndef __CollisionPercept_h_
#define __CollisionPercept_h_

#include "Tools/Streams/InOut.h"
#include "Representations/Motion/JointData.h"


/**
* Contains detected collisions for each joint.
*/
class CollisionPercept
{
public:
  /** Constructor */ 
  CollisionPercept();

  /** Reset all states */ 
  void reset();

  /** Destructor */ 
  ~CollisionPercept();

  double state[JointData::numOfJoint];
    
  /** Did collision occur at front left leg */
  bool getCollisionFrontLeft() const;

  /** Did collision occur at front right leg */
  bool getCollisionFrontRight() const;

  /** Did collision occur at hind left leg */
  bool getCollisionHindLeft() const;

  /** Did collision occur at hind left leg */
  bool getCollisionHindRight() const;

  /** Did collision occur at head */
  bool getCollisionHead() const;

  /** Did collision occur at any body part */
  bool getCollisionAggregate() const;

  /** Quantitative Value for occurred collision */
  double getOdometryDisturbance() const;

  /** the last perceived frame */
  unsigned long frameNumber;

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

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

#endif //__CollisionPercept_h_

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