Modules/BehaviorControl/GT2005BehaviorControl/GT2005Symbols/GT2005ConfigurationSymbols.h

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/** 
* @file GT2005ConfigurationSymbols.h
*
* Declaration of class GT2005ConfigurationSymbols.
*
* @author Max Risler
*/

#ifndef __GT2005ConfigurationSymbols_h_
#define __GT2005ConfigurationSymbols_h_

#include "../../BehaviorControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"
#include "Tools/RingBufferWithSum.h"
/**
* The Xabsl2 symbols that are defined in "configuration-symbols.xml"
*
* @author Max Risler
*/ 
class GT2005ConfigurationSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param interfaces The parameters of the BehaviorControl module.
  */
  GT2005ConfigurationSymbols(BehaviorControlInterfaces& interfaces);
  
  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);

  /** updates the symbols */
  void update();

  //!@name Input symbols
  //!@{
  double getCurrentKickoff(); /*!< A function for the symbol "current-kickoff-variant" */
  double getOwnKickoffX(); /*!< A function for the symbol "own-kickoff.x" */
  double getOwnKickoffY(); /*!< A function for the symbol "own-kickoff.y" */
  double getOwnKickoffAngle(); /*!< A function for the symbol "own-kickoff.angle" */
  double getOwnKickoffXByObstacles(); /*!< A function for the symbol "own-kickoff.x" by obstacle model */
  double getOwnKickoffYByObstacles(); /*!< A function for the symbol "own-kickoff.y" by obstacle model */
  double getOwnKickoffAngleByObstacles(); /*!< A function for the symbol "own-kickoff.angle" by obstacle model */
  double getOpponentKickoffX(); /*!< A function for the symbol "opponent-kickoff.x" */
  double getOpponentKickoffY(); /*!< A function for the symbol "opponent-kickoff.y" */
  double getOpponentKickoffAngle(); /*!< A function for the symbol "opponent-kickoff.angle" */
  double getKickoffX(); /*!< A function for the symbol "kickoff.x" */
  double getKickoffY(); /*!< A function for the symbol "kickoff.y" */
  double getKickoffAngle(); /*!< A function for the symbol "kickoff.angle" */
  //!@}

  /** kickoff role */
  BehaviorTeamMessage::DynamicRole kickoff_role;
  /** computes the kickoff role */
  void computeKickoffRole();
  double getKickOffRoleNumber(); //hack
  double getTimeToReachKickoffPose(BehaviorTeamMessage::DynamicRole, Vector2<double> );

private:

    /** number of different kickoff variants */
  enum { numOfKickoff = 2 };

  /** the max speed with which the robot walks to its kickoff position */
  double goToKickoffMaxSpeed;

  /** the goalie start position */
  Vector2<double> goalie;

  /** the defensive supporter start position */
  Vector2<double> defensiveSupporter;

  /** the offensive supporter start position at opponent kickoff */
  Vector2<double> offensiveSupporterOpponentKickoff;
  /** the striker start position at opponent kickoff */
  Vector2<double> strikerOpponentKickoff;

  /** the offensive supporter start position at own kickoff */
  Vector2<double> offensiveSupporterOwnKickoff[numOfKickoff];
  /** the orientation of the offensive supporter at own kickoff in degrees */
  double offensiveSupporterOwnKickoffAngle[numOfKickoff];
  /** the striker start position at own kickoff */
  Vector2<double> strikerOwnKickoff[numOfKickoff];
  /** the orientation of the striker at own kickoff in degrees */
  double strikerOwnKickoffAngle[numOfKickoff];

  /**
  * current own kickoff variant 
  */
  int currentKickoff;

  /**
  * current kickoff role
  */
  double role;
  double ownKickOff;
  RingBufferWithSum<10> kickoffTimes[3];

  /** kickoff-position of striker based on obstacle-model */
  Pose2D obstacleKickoff;
};


#endif // __GT2005ConfigurationSymbols_h_

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