Modules/TeamBallLocator/GT2005Particles/GT2005ParticleContainerReceived.h

Go to the documentation of this file.

/**
 * @file GT2005ParticleContainerReceived.h
 * 
 * This file contains a Particle Container used by the GT2005TeamBallLocator.
 *
 * @author <a href="mailto:christinez@gmx.de">Christine Zarges</a>
 * @author <a href="mailto:Thorsten.Kerkhof@gmx.de">Thorsten Kerkhof</a>
 */

#ifndef __GT2005ParticleContainerReceived_h_
#define __GT2005ParticleContainerReceived_h_

#include "Tools/Debugging/GenericDebugData.h"
#include "Tools/Math/Common.h"
#include "Tools/Math/Vector2.h"
#include "Tools/Math/Pose2D.h"
#include "Tools/FieldDimensions.h"
#include "Representations/Cognition/RobotPose.h"
#include "Representations/Perception/ObstaclesPercept.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/Cognition/SampleSet.h"
#include "Modules/BallLocator/GT2005Particles/GT2005Particle.h"
#include "Modules/BallLocator/GT2005Particles/GT2005ParticleContainer.h"
#include <math.h>

/**
* @class GT2005ParticleContainerReceived
*/
class GT2005ParticleContainerReceived
{
public:
  // Constructor:
  GT2005ParticleContainerReceived();
  GT2005ParticleContainerReceived(int n);

  //Destructor:
  ~GT2005ParticleContainerReceived();

  //The particles:
  GT2005Particle* current;

  //Number of particles:
  int n;

  //A cell in the grid:
  class Cell
  {
    public:
      //The sum of the probabilities of the particles in this cell:
      double count;
      //The first particle in this cell:
      GT2005Particle* first;
    
      //Constructor:
      Cell()
      {
        count = 0;
        first = 0;
      }

      void clear()
      {
        count = 0;
        first = 0;
      }
  };

  Cell cells[blMaxGrid][blMaxGrid];
  double yMax,
         xMax,
         countMax;

  //This funtion calculates out of the particles the actual estimated
  //ball position:
  void calculateEstimatedBallPosition(double& ballX,
                                      double& ballY,
                                      double& ballP);

  //This funtion calculates out of the particles the actual estimated
  //ball velocity:
  void calculateEstimatedBallVelocity(double& ballVX,
                                      double& ballVY);
  void calculateEstimatedBallVelocity(double& ballVX,
                                      double& ballVY,
                                      double& ballVP);

  /**
  * The function returns the number of samples in the set.
  * @return The number of samples.
  */
  int getNumberOfSamples() const {return n;}
};

#endif // __GT2005ParticleContainerReceived_h_

---