Representations/Perception/EdgesPercept.h

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/**
 * @file EdgesPercept.h
 * 
 * Declaration of class EdgesPercept
 * @author Dirk Thomas
 */ 

#ifndef __EdgesPercept_h_
#define __EdgesPercept_h_


#include "Tools/Streams/InOut.h"
#include "Tools/Math/Vector2.h"

/**
* The class represents a percepted edge on the field.
*/
class EdgesPercept : public Streamable
{
  public:
    enum {maxNumberOfEdges = 50}; /**< Specifies the maximum number of edges. */

    class Edge : public Streamable
    {
    public:
      void serialize(In* in, Out* out)
      {
        STREAM_REGISTER_BEGIN();
        STREAM( point1OnField);
        STREAM( point2OnField);
        STREAM( point1InImage);
        STREAM( point2InImage);
        STREAM( lengthOnField);
        STREAM( lengthInImage);
        STREAM( angleOnField);
        STREAM( angleInImage);
        STREAM_REGISTER_FINISH();
      }

      Vector2<double> point1OnField;
      Vector2<double> point2OnField;
      Vector2<int> point1InImage;
      Vector2<int> point2InImage;
      double lengthOnField;
      double lengthInImage;
      double angleOnField;
      double angleInImage;
    };

    Edge edges[maxNumberOfEdges]; /**< The edges. */
    int numberOfEdges; /**< The number of edges. */
    unsigned long frameNumber; /**< The frame number when perceived. */

    /**
     * Constructor.
     */
    EdgesPercept() :
      frameNumber(0),
      numberOfEdges(0)
    {
    }

    /**
     * The function empties the edge percept.
     */
    void reset(unsigned long frameNumber);

    /**
     * The function adds a new edge to the edge percept.
     * @param point1OnField The point of one end of the edge on the field.
     * @param point2OnField The point of the other end of the edge on the field.
     * @param point1InImage The point of one end of the edge in the image.
     * @param point2InImage The point of the other end of the edge in the image.
     */
    void add(const Vector2<double>& point1OnField, const Vector2<double>& point2OnField,
             const Vector2<int>& point1InImage, const Vector2<int>& point2InImage);

    void serialize(In* in, Out* out)
    {
      STREAM_REGISTER_BEGIN();
      STREAM(frameNumber);
      STREAM_DYN_ARRAY( edges, numberOfEdges);
      STREAM_REGISTER_FINISH();
    }
};

#endif //__EdgesPercept_h_

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