Modules/SelfLocator/GT2005SelfLocator/GT2005LineCrossingsTable.h

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/*
* position and type of line crossings on the field
*
* @author <A href=mailto:c_rohde@web.de>Carsten Rohde</A>
* @author <A href=mailto:judith-winter@web.de>Judith Winter</A>
* @author Max Risler
*/


#ifndef GT2005LineCrossingsTable_h
#define GT2005LineCrossingsTable_h


#include "Tools/Boundary.h"
#include "Tools/FieldDimensions.h"
#include "Tools/Debugging/DebugDrawings.h"
#include "Tools/Math/Pose2D.h"
#include "Representations/Perception/LinesPercept.h"

class GT2005LineCrossingsTable
{
public:
  enum CrossingClass{
    virtualCrossing,
    lCrossing,
    tCrossing,
    xCrossing,
    outerLCrossing,
    outerTCrossing,
    outerVirtualCrossing,
    falseCrossing,
      numOfCrossingClasses
  };

  GT2005LineCrossingsTable();
  Vector2<double> getClosestPoint(const Vector2<double>& point, CrossingClass crossingClass, int orientation) const;
  Vector2<double> getClosestPoint(const Pose2D& pose, const LinesPercept::LineCrossingPoint& crossingPoint, CrossingClass& crossingClass) const;

  static int NO_POINT_DISTANCE;

private:

  enum{
    maxNumOfCrossings = 6
  };

  int numOfCrossings[numOfCrossingClasses][4];
  Vector2<double> crossings[numOfCrossingClasses][4][maxNumOfCrossings];

  // private methods
  void addCrossing(CrossingClass crossingClass, int orientation, double x, double y)
  {
    int& num = numOfCrossings[crossingClass][orientation];
    crossings[crossingClass][orientation][num].x = x;
    crossings[crossingClass][orientation][num].y = y;
    num++;
  }

  void initVirtualCrossings();
  void initTCrossings();
  void initLCrossings();
  void initXCrossings();
  void initFalseCrossings();

  void updateClosestPoint(Vector2<double>& minimum, double& minDist, const Vector2<double>& pose, CrossingClass crossingClass, int orientation, CrossingClass& minCrossingClass) const;
};
#endif

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