Modules/BallLocator/GT2005Particles/GT2005Particle.h

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/**
 * @file GT2005Particle.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 __GT2005Particle_h_
#define __GT2005Particle_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 GT2005Particle
*/
class GT2005Particle
{
public:
  // Constructor:
  GT2005Particle();
  
  //Constructur, all saved values are given directly:
  GT2005Particle(double x, double y,
                 double vx, double vy,
                 double prob, double vProb);
  
  Vector2<double> pose;
  double probability;
  double vx;
  double vy;
  double vprob;

  //Ball old-x-position:
  double seenvx;
  //Ball old-y-position:
  double seenvy;

  double provx, provy;

  //Pointer on the next GT2005Particle in the grid:
  GT2005Particle* next;

  //Functions to get and set more than one value in one step:
  Vector2<double> getPosition() const;
  Vector2<double> getVelocity() const;
  void setPosition(double x, double y);
  void setVelocity(double vx, double vy);
  void setParameters(double x, double y,
                     double vx, double vy,
                     double prob, double vProb);
};

#endif// __GT2005Particle_h_

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