Modules/SpecialActions/GT2003MotionNetSpecialActions/GT2003MotionNetSpecialActions.h

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/**
* @file GT2003MotionNetSpecialActions.h
* 
* This file contains a class for GT2003 motion net special actions.
* @author Uwe Düffert, Max Risler
*/

#ifndef __GT2003MotionNetSpecialActions_h_
#define __GT2003MotionNetSpecialActions_h_

#include "../SpecialActions.h"
#include "MotionNetData.h"

/**
* This module executes special actions by using the GT2003
* motion net compiler
*/
class GT2003MotionNetSpecialActions : public SpecialActions
{
public:
/*
* Constructor.
* @param interfaces The paramters of the SpecialActions module.
  */
  GT2003MotionNetSpecialActions(SpecialActionsInterfaces& interfaces);
  
  /** Executes the special action */
  virtual bool executeParameterized(SpecialActionRequest specialActionRequest, JointData& jointData);

  /*
   *  Determines wether or not a Specialaction can be executed in current phase of Walking cycle 
   *  @param specialActionID SpecialActionID for Specialaction that information for is needed
   *  @return wether the Specialaction can be executed in current Walkingcycle
   */
  virtual bool specialActionIsExecutableInWalkingCycle(int specialActionID, double walkCycle);

  /** 
  * Called from a MessageQueue to distribute messages.
  * @param message The message that can be read.
  * @return true if the message was read (handled).
  */
  virtual bool handleMessage(InMessage& message);

protected:
  /** Get motion net motion index from motion type and special action id */
  int getMotionIndex(MotionRequest::MotionID motionType, SpecialActionRequest::SpecialActionID specialActionType);

  /** Get motion net motion index from a MotionRequest */
  int getMotionIndex(const SpecialActionRequest& request);

  /** Get next motion node from motion net */
  bool getNextData(const SpecialActionRequest& specialActionRequest);

  /** Calculates the next joint data vector by interpolating if necessary */
  void calculateJointData(JointData& jointData);

  /** The motion data array */
  MotionNetData motionNetData;

  /** Current motion net node */
  short currentNode;

  //! Current joint data
  JointData currentData;
  //! Last data for interpolation
  JointData lastData;
  
  //! Last data was set
  bool lastDataValid;
  //! True if values should be interpolated
  bool interpolationMode;

  //! Length of current data line in cycles
  long dataRepetitionLength;
  //! Cycle counter for current data line
  long dataRepetitionCounter;

  /** Odometry table entry
   * Contains type of odometry and odometry pose
   */
  class OdometryEntry {
    public:
    /** Enum for odometry types
     * none: No odometry, means no movement
     * once: Odometry pose is used once the motion is executed
     * homegeneous: Odometry pose describes speed and is used each tick
     */
    enum OdometryType {
      none,
      once,
      homogeneous
    };

    OdometryType type;
    OdometryData o;
  
    int walkCycleDissection;
    std::vector<int> leaveWalkCycleSections;

    OdometryEntry() : type(none), walkCycleDissection(0) {};
  };

  /** Odometry data table 
  * Contains one entry for each motion
  * describing robot movement per tick.
  */
  OdometryEntry odometryTable[SpecialActionRequest::numOfSpecialAction + 1];

  /** Head states for each special action */
  MotionInfo motionInfoTable[SpecialActionRequest::numOfSpecialAction + 1];

  /** A table for the executed motion requests */
  MotionRequest executedMotionRequestTable[SpecialActionRequest::numOfSpecialAction + 1];

  /** Odometry of current motion */
  OdometryEntry currentOdometry;

  /** Read odometry table from file */
  void readOdometryTable();

  /** type of last executed special action */
  SpecialActionRequest::SpecialActionID lastSpecialActionType;
};

#endif// __GT2003MotionNetSpecialActions_h_

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