Modules/ObstaclesLocator/GT2005ObstaclesLocator.h

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/**
 * @file GT2005ObstaclesLocator.h
 * 
 * This file contains a class for obstacle localization.
 * @author Jan Hoffmann
 * @author <a href="mailto:juengel@informatik.hu-berlin.de">Matthias Juengel</a>
 */

#ifndef __GT2005ObstaclesLocator_h_
#define __GT2005ObstaclesLocator_h_

#include "ObstaclesLocator.h"
#include "Tools/Field.h"

/**
 * This class is a locator for obstacles.
 */
class GT2005ObstaclesLocator : public ObstaclesLocator
{
public:

  enum {
    timeAfterWhichObstacleIsForgotten = 6000
  };

  /** 
  * Constructor.
  * @param interfaces The paramters of the ObstaclesLocator module.
  */
  GT2005ObstaclesLocator(const ObstaclesLocatorInterfaces& interfaces);

  int relativeOrientation;

  Field field;
  Vector2<double> obstacles[ObstaclesModel::numOfSectors];
  ObstaclesPercept::ObstacleType obstacleTypes[ObstaclesModel::numOfSectors];

  unsigned long timestamps[ObstaclesModel::numOfSectors];
  
  double sectorWidth;
  OdometryData lastOdometry;
  Pose2D odometry;

  /** head tilt angle below which psd percepts are ignored */
  double headTiltClipPSD;

  /** Executes the module */
  virtual void execute();

  bool usePSD;
  bool useLinesPercept;
  bool useObstaclesPercept;
  bool useAging;

  void setObstaclesModel(bool addWorldModel = true);
  void moveObstaclesByOdometry();

  void addLinesPercept();
  void addObstaclesPercept();
  void addPSDPercept();
  enum UpdateMode{overwrite, extend, limit};
  void addObstaclePoint(const Vector2<double>& obstaclePoint, UpdateMode mode);
  void addObstaclePoints(
    const Vector2<int>& nearPoint, 
    const Vector2<int>& farPoint, 
    bool farPointIsOnImageBorder,
    ObstaclesPercept::ObstacleType obstacleType
    );

  virtual bool handleMessage(InMessage& message);

private:
  void determineFreePartsOfGoals();

  void determineSeenGoals();
  
  void determineNextFreeTeammate();

  /** Last time a free part of a goal was detected*/
  //unsigned long lastTimeFreePartOfGoalWasDetermined[2];

  /** angle to a free part of the goal, updated by vision and turn(!) odometry*/
  double angleToFreePartOfGoal[2];

  /** angle to a seen goal, updated by vision and odometry*/
  double angleToSeenGoal[2];

  /** distance to a seen goal, updated by vision and odometry*/
  double distanceToSeenGoal[2];

  /** time since last seen goal*/
  unsigned long timeOfSeenGoal[2];

  /** the width of the free part of goal*/
  double widthOfFreePartOfGoal[2];

  /** the distance to the free part of the goal*/
  double distanceToFreePartOfGoal[2];

};

#endif// __GT2005ObstaclesLocator_h_

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