Representations/Cognition/GTCamWorldState.h

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/**
* @file GTRemoteCamWorldState.h
*
* Definition of class GTRemoteCamWorldState
* 
* @author Matthias Meyer
*/
#ifndef __GTCAMWORLDSTATE_h_
#define __GTCAMWORLDSTATE_h_

#include "Representations/Cognition/BallModel.h"
#include "Representations/Cognition/PlayerPoseCollection.h"
#include "Representations/Cognition/RobotPose.h"
#include "Tools/Debugging/Debugging.h"

#include "Tools/Player.h"


class GTCamWorldState {
  friend class RemoteCam;
  friend class RobotControlGTCamSocket;
  friend class GTCamHandler;
  friend class MSH2005KickLoggerSymbols;
public: 

  static const int SIZEOFWORLDSTATE;

  GTCamWorldState(bool flip = false);
  virtual ~GTCamWorldState();
  Vector2<double> getPlayerPos(int player,int color = Player::red) const ;    // Player = 0..3
  Vector2<double> getPlayerSpeed(int player,int color  = Player::red) const ; // Get Player Speed
  double getPlayerOrientation(int player,int color = Player::red) const ;
  double getTimestamp() const ;                   // Timestamp of worldmodel
  BallModel getBallModel() const ;                // Ball location + speed
  void setPlayerPos(Vector2<double> pos,int player,int color = Player::red);
  void setPlayerSpeed(Vector2<double> speed,int player,int color = Player::red);
  void setPlayerOrientation(double angle, int player,int color = Player::red);
  void setTimestamp(double stamp);
  void setFlip(bool x);
  PlayerPoseCollection getPlayerPoseCollection(int player, int color = Player::red);
  RobotPose getRobotPose(int player,int color = Player::red) const ;
  RobotPose getRobotPose() const;
  double getSyncTimestamp() const;
  void setSyncTimestamp(double stamp);
  unsigned long getFrameNumber() const;
  void setBallPos(double X, double Y);
  void setBallSpeedX(double speedX);
  void setBallSpeedY(double speedY);
  void setBallSpeed(double speedX, double speedY);
  bool playerWasSeen(int player, int color = Player::red) const;

private:
  bool is_NAN(double test) const;
//public:
  /*  Worldstate
  0: timestamp
  1: sync timestamp
  2: ball x
  3: ball y
  4: ball speed x
  5: ball speed y
  6: robot1 x
  7: robot1 y
  8: robot1 orientation
  9: robot1 speed x
  10: robot1 speed y
  11: robot2 x
  12: robot2 y
  13: robot2 orientation
  14: robot2 speed x
  15: robot2 speed y
  16: robot3 x
  17: robot3 y
  18: robot3 orientation
  19: robot3 speed x
  20: robot3 speed y
  21: robot4 x
  22: robot4 y
  23: robot4 orientation
  24: robot4 speed x
  25: robot4 speed y
  26: robot5 x
  27: robot5 y
  28: robot5 orientation
  29: robot5 speed x
  30: robot5 speed y
  31: robot6 x
  32: robot6 y
  33: robot6 orientation
  34: robot6 speed x
  35: robot6 speed y
  36: robot7 x
  37: robot7 y
  38: robot7 orientation
  39: robot7 speed x
  40: robot7 speed y
  41: robot8 x
  42: robot8 y
  43: robot8 orientation
  44: robot8 speed x
  45: robot8 speed y
  */
  double camWorldstate[46];

  unsigned long frameNumber;
private:
  int flip;

};

/**
* Streaming operator that reads a GTRemoteCamWorldState from a stream.
* @param stream The stream from which is read.
* @param state The Worldstate.
* @return The stream.
*/
In& operator>>(In& stream,GTCamWorldState& state);

/**
* Streaming operator that writes a GTRemoteCamWorldState to a stream.
* @param stream The stream to write on.
* @param state is the GTRemoteCamWorldState object.
* @return The stream.
*/
Out& operator<<(Out& stream, const GTCamWorldState& state);

#endif

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