Modules/HeadControl/GT2005HeadControl/GT2005HeadControlSymbols.h

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/** 
* @file  Modules/HeadControl/GT2005HeadControl/GT2005HeadControlSymbols.h
*
* Declaration of class GT2005HeadControlSymbols.
*
* @author Martin Lötzsch
*/

#ifndef __GT2005HeadControlSymbols_h_
#define __GT2005HeadControlSymbols_h_

#include "../HeadControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"

// prototype to avoid inclusion of GT2004HeadControl.h
class GT2005HeadControl;

// prototype to avoid inclusion of GT2004HeadControlBasicBehavior.h
class GT2005BasicBehaviorDirectedScanForLandmarks;

/**
* The Xabsl2 symbols that are defined in "symbols.xml"
*
* @author Martin Lötzsch
*/ 
class GT2005HeadControlSymbols : public Xabsl2FunctionProvider, public HeadControlInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the HeadControl module.
* @param headControl A reference to the HeadControl module
  */
  GT2005HeadControlSymbols(const HeadControlInterfaces& interfaces, 
    GT2005HeadControl& headControl,
    GT2005BasicBehaviorDirectedScanForLandmarks& msh05BasicBehaviorDirectedScanForLandmarks);

  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);
  
    /** updates the symbols */
  void update();

  //!@name Input symbols
  //!@{
  double getPositionInWalkCycle(); /*!< A function for the symbol "position-in-walk-cycle" */
  double getBallTimeSinceLastSeen(); /*!< A function for the symbol "ball.time-since-last-seen" */
  double getTimeSinceLastSeenConsecutively(); /*!< A function for the symbol "ball.time-since-last-seen-consecutively" */
  double getBallConsecutivelySeenTime(); /*!< A function for the symbol "ball.consecutive-seen-time" */
  double getCommunicatedBallDistance(); /*!< A function for the symbol "ball.communicated-ball-distance" */
  double getRelativeBallSpeedX(); /*!< A function for the symbol "ball.relative-speed-x" */
  double getRelativeBallSpeedY(); /*!< A function for the symbol "ball.relative-speed-y" */
  double getBallSpeedAbs(); /*!< A function for the symbol "ball.speed-abs" */
  double getSeenDistance(); /*!< A function for the symbol "ball.seen.distance" */
  double getTimeSinceLastSeenABeacon(); /*!< A function for the symbol "time-since-last-seen-beacon" */
  double getTimeBetweenSeen2LastBeacons(); /*!< A function for the symbol "time-between-last-beacons" */
  bool getBodyPSDDetectBall(); /*!< A function for the symbol "body-PSD-detect-ball" */
  bool getLastHeadPathIsFinished(); /*!< A function for the symbol "last-head-path-is-finished" */
  bool getSetJointsIsCloseToDestination(); /*!< A function for the symbol "set-joints-is-close-to-destination" */
  bool getSetJointsMaxPanReached(); /*!< A function for the symbol "set-joints-max-pan-reached" */
  bool getNextLandmarkIsWithinReach(); /*!< A function for the symbol "next-landmark-is-within-reach" */
  bool getReleasingBallLeftIsPossible(); /*!< A function for the symbol "releasing-ball-left-is-possible" */
  bool getReleasingBallRightIsPossible(); /*!< A function for the symbol "releasing-ball-right-is-possible" */
  //!@}

private:
  /** A reference to the HeadControl module */
  GT2005HeadControl& headControl;
  GT2005BasicBehaviorDirectedScanForLandmarks& msh05BasicBehaviorDirectedScanForLandmarks;
  
  int lastSeenBeaconIndex;
};


#endif // __GT2004HeadControlSymbols_h_

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