Modules/MotionControl/GT2005MotionControl.h

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/**
* @file GT2005MotionControl.h
* 
* Definition of class GT2005MotionControl
*/

#ifndef __GT2005MotionControl_h_
#define __GT2005MotionControl_h_

#include "MotionControl.h"

#include "WakeUpEngine.h"

#include "MotionStabilizer.h"

#include "Modules/WalkingEngine/WalkingEngine.h"
#include "Modules/SpecialActions/SpecialActions.h"
#include "Modules/GetupEngine/GetupEngineSelector.h"

#include "Modules/WalkingEngine/InvKinWalkingEngine.h"

#include "Tools/Module/ModuleHandler.h"

/** 
* @class GT2005MotionControl
* 
* The default solution for the module MotionControl.
* Integrates head joint values from the head control, joint values from walking
* or special action engines and LED values from the LED control.
*/
class GT2005MotionControl : public MotionControl, public MotionStabilizer
{
public:
/** 
* Constructor 
* @param interfaces The paramters of the MotionControl module.
* @param moduleHandler A reference to the ModuleHandler of the Process.
  */
  GT2005MotionControl(ModuleHandler& moduleHandler,
    const MotionControlInterfaces& interfaces);
  
  /** Destructor */
  ~GT2005MotionControl();
  
  /** Executes the module */
  virtual void execute();
  
  /** 
  * Called from a MessageQueue to distribute messages.
  * Use message.getMessageID to decide if the message is relavant for 
  * the MesssageHandler derivate.
  * Use message.bin, message.text or message.config as In streams to get the data from.
  * @param message The message that can be read.
  * @return true if the message was read (handled).
  */
  virtual bool handleMessage(InMessage& message);
  
protected:
  /** determines the state of the MotionControl */
  void determineMotionControlState();

  /** sets the MotionControlState accordingly */
  void setMotionControlState();

  /** which module is currently used for calculation */
  // MotionRequest::MotionID currentMotionType;
  
  /** which module was used before */
  MotionRequest::MotionID lastMotionType;

  /** pointer to the WalkingEngine modules one for each walking type*/
  WalkingEngine *pWalkingEngine[WalkRequest::numOfWalkType];
  
  /** a pointer to the SpecialActions module */
  SpecialActions *pSpecialActions;
  
  /** a pointer to the GetupEngine module */
  GetupEngineSelector *pGetupEngine;
  
  /** 
  * a point to the single instance of the InvKinWalkingEngine
  * this is called by all different walk types using different parameter sets
  */
  InvKinWalkingEngine *pInvKinWalkingEngine;

  /** 
  * A reference to the ModuleHandler of the Process. 
  * Needed to create new solutions.
  */
  ModuleHandler& moduleHandler;

  /** counter used in wagTail */
  int tailCount;
  
  long lastHeadTilt, /**< Previous head tilt. */
       lastHeadPan, /**< Previous head pan. */
       lastHeadRoll; /**< Previous head roll. */

  /** executes the tail wag requested by motion request */
  void wagTail(
    const MotionRequest& motionRequest,
    const SensorData& sensorData,
    JointData& jointData
    );

  WakeUpEngine wakeUpEngine;
  // bool lastSpecialActionWasPlayDead;
  bool wakingUp;

  /** the last executed Motion indicated, that it´s possible to execute the motionRequest from Cognition */
  bool changeOfMotionControlStatePossible;

  /** the last cycle we were in */
  double positionInWalkCycle;

  /** The latest WalkRequest */
  WalkRequest latestWalkRequest;

  /** The latest SpecialActionRequest */
  SpecialActionRequest latestSpecialActionRequest;

  /** The state of the MotionControl */
  enum{
    stand,
    walk,
    specialAction,
    getup,
    wakeUp,
    playDead
  } motionControlState;
};

#endif// __GT2005MotionControl_h_

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