Modules/TeamBallLocator/GT2005Particles/GT2005ParticleSend.h

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/**
 * @file GT2005ParticleSend.h
 * 
 * This file contains a Particle Representation 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 __GT2005ParticleSend_h_
#define __GT2005ParticleSend_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 "Tools/RingBuffer.h"
#include "Representations/Cognition/RobotPose.h"
#include "Representations/Perception/ObstaclesPercept.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/Cognition/SampleSet.h"
#include <math.h>

/**
* @class GT2005ParticleSend
*/
class GT2005ParticleSend
{
public:
  //Constructor:
  GT2005ParticleSend();
  
  //Constructur, all saved values are given directly:
  GT2005ParticleSend(short int x,
                     short int y,
                     short int vx,
                     short int vy,
                     unsigned short int prob,
                     unsigned short int vProb);
  
  /* Typ char
     range -128 to 127
     size 1 Byte 
  
     Typ unsigned short int
     range 0 to 65535 (if 2 Byte)
     size 2 or 4 Byte 
   */
  unsigned short int probability;
  unsigned short int vprob;
  short int x;
  short int y;
  short int vx;
  short int vy;

  //Function to get and set more than one value in one step:
  void setParameters(short int x,
                     short int y,
                     short int vx,
                     short int vy,
                     unsigned short int prob,
                     unsigned short int vProb);
};

Out& operator<<(Out& stream, const GT2005ParticleSend& pbs);
In& operator>>(In& stream, GT2005ParticleSend& pbs);

#endif// __GT2005ParticleSend_h_

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