Modules/BallLocator/GT2005Particles/GT2005ParticleContainer.h

Go to the documentation of this file.

/**
 * @file GT2005ParticleContainer.h
 * 
 * This file contains a Particle Container used by the GT2005BallLocator.
 *
 * @author <a href="mailto:christinez@gmx.de">Christine Zarges</a>
 * @author <a href="mailto:Thorsten.Kerkhof@gmx.de">Thorsten Kerkhof</a>
 */

#ifndef __GT2005ParticleContainer_h_
#define __GT2005ParticleContainer_h_

//Number of particles:
#define numOfBLParticles 40

#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 "GT2005Particle.h"
#include <math.h>

/**
* @class GT2005ParticleContainer
*/
class GT2005ParticleContainer
{
public:
  // Constructor:
  GT2005ParticleContainer();

  //Grid size for the calculation of the estimated ball position:
  #define blMaxGrid 10

  //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;

  GT2005Particle array[numOfBLParticles];
  GT2005Particle& operator[](int index) {return array[index];}
  const GT2005Particle& operator[](int index) const {return array[index];}
  int getNumberOfSamples();

  //The function gives the index of the particle with the lowest probability,
  //ignoring particles with probability 0:
  int getIndexOfParticleWithLowestProb();

  //This funtion calculates out of the particles the actual estimated
  //ball position and velocity:
  void calculateEstimatedBall(double& ballX,
                              double& ballY,
                              double& ballP,
                              double& ballVX,
                              double& ballVY,
                              double& ballVP);
};

#endif // __GT2005ParticleContainer_h_

---