GT2005: Tools/Debugging/GenericDebugData.h Source File

00001 /**
00002 * @file GenericDebugData.h
00003 * 
00004 * Declaration of class GenericDebugData used for adjusting parameters on the robot.
00005 *
00006 * @author <a href="mailto:jhoffman@informatik.hu-berlin.de">Jan Hoffmann</a>
00007 */ 
00008 
00009 #ifndef __GenericDebugData_h_
00010 #define __GenericDebugData_h_
00011 
00012 #include "Tools/Streams/InOut.h"
00013 #include "Tools/MessageQueue/MessageIDs.h"
00014 
00015 
00016 /**
00017 * 
00018 */
00019 class GenericDebugData
00020 {
00021 public:
00022   /** Constructor */ 
00023   GenericDebugData();
00024 
00025   /** Destructor */ 
00026   ~GenericDebugData();
00027 
00028   enum GenericDebugDataID 
00029   {
00030     numberOfFourierCoefficients = 0, 
00031     braitenbergPIDs = 1, 
00032     danielTest = 2,
00033     defaultObstaclesLocator = 3, 
00034     imageProcessor = 4,
00035     MotionDetector = 5,
00036     gridImageProcessor2DebugParameters = 6,
00037     linesSelfLocator = 7,
00038     ballLocatorPIDs = 8,
00039     bodyOffsets = 9,
00040     odometryScale = 10,
00041     motionStabilizer = 11,
00042     yetAnotherInvKinParams = 12,
00043     yetAnotherInvKinPaws = 13,
00044     noOdometrySelfLocator = 14,
00045     teamMessageSendDelay = 15,
00046     gt2005BallLocator1,
00047     gt2005BallLocator2,
00048     gt2005TeamBallLocator,
00049     gtCamKalmanBallFilter,
00050     comboBallLocator,
00051     // insert above this line
00052     numOfGenericDebugDataIDs,
00053     unknown
00054   };
00055 
00056   static const char* getGenericDebugDateName(GenericDebugDataID genericDebugDataID)
00057   {
00058     switch(genericDebugDataID)
00059     {
00060       case braitenbergPIDs: return "braitenbergPIDs";
00061       case defaultObstaclesLocator: return "DefaultObstaclesLocator";
00062       case MotionDetector: return "MotionDetector";
00063       case numberOfFourierCoefficients: return "numberOfFourierCoefficients";
00064       case danielTest: return "danielTest";
00065       case imageProcessor: return "imageProcessor";
00066       case gridImageProcessor2DebugParameters: return "gridImageProcessor2DebugParameters";
00067       case linesSelfLocator: return "linesSelfLocator";
00068       case ballLocatorPIDs: return "ballLocatorPIDs";
00069       case bodyOffsets: return "bodyOffsets";
00070       case odometryScale: return "odometryScale";
00071       case motionStabilizer: return "motionStabilizer";
00072       case yetAnotherInvKinParams: return "yetAnotherInvKinParams";
00073       case yetAnotherInvKinPaws: return "yetAnotherInvKinPaws";
00074       case noOdometrySelfLocator: return "noOdometrySelfLocator";
00075       case teamMessageSendDelay: return "teamMessageSendDeay";
00076       case gt2005BallLocator1: return "gt2005BallLocator1";
00077       case gt2005BallLocator2: return "gt2005BallLocator2";
00078       case gt2005TeamBallLocator: return "gt2005TeamBallLocator";
00079       case comboBallLocator: return "comboBallLocator";
00080       case gtCamKalmanBallFilter: return "gtCamKalmanBallFilter";
00081       default: return "unnamed";
00082     }
00083   }
00084 
00085   static const char* getParameterName(GenericDebugDataID genericDebugDataID, int index)
00086   {
00087     char noNames[10][100] = {"","","","","","","","","",""};
00088     char imageProcessorNames[10][100] = {"gridSpacing","yThreshold","vThreshold","","","","","","",""};
00089     char gridImageProcessor2DebugParametersNames[10][100] = {"scanLineSpacing","numOfLines","useFixedHorizon","returnCondition","-", "-", "-", "-", "-", "-"};
00090     char linesSelfLocatorNames[10][100] = {"up","down","delay","height","z","y","trans","rot","",""};
00091     char ballLocatorPIDNames[10][100] = {"ballX P","ballX I","ballX D","speedX P","speedX I","speedX D","","","",""};
00092     char bodyOffsetNames[10][100] = {"bodyTiltOffset","bodyRollOffset","headTiltOffset","headRollOffset","tiltFactor","panFactor","tile2Factor","","",""};
00093     char odometryScaleNames[10][100] = {"scaleX","scaleY","scaleRotation","counterRotation","","","","","",""};
00094     char yetAnotherInvKinParamNames[10][100] = {"x","y","z","tilt","pan","roll","kick lateral","kick speed","body extra","kick length"};
00095     char yetAnotherInvKinPawsNames[10][100] = {"fore x","fore y","hind x","hind y","kick height","use paw","smoothing","","",""};
00096     char gt2005BallLocatorNames1[10][100] = {"systemNoise","measNoise","coeffOfFriction","timesPartProb","partProbThr","xBallRadius","randomLimitV","timeFctrThr","throwInProb",""};
00097     char gt2005BallLocatorNames2[10][100] = {"velWeightXDirection","percentNumPartInside","partProbDecStep","nearPercept1","nearPercept2","nearPercept3","nearPercept4","farPercept1","farPercept2",""};
00098     char gt2005TeamBallLocatorNames[10][100] = {"smallestProb","biggestProb","coeffOfFriction","systemNoise","timeFctrThr","lowerBound","upperBound","lowerValue","",""};
00099     char comboBallLocatorNames[10][100] = {"FirstBL","SecondBL","setsTheState","CompWithCam","ShowVelocities","FirstTBL","SecondTBL","setsCommStateC","ShowVelocities",""};
00100     char gtCamKalmanBallFilterNames[10][100] = {"Q1","Q2","Q3","Q4","RPri1","RPri2","RPri3","RPri4","",""};
00101 
00102     switch(genericDebugDataID)
00103     {
00104       case imageProcessor: return imageProcessorNames[index];
00105       case gridImageProcessor2DebugParameters: return gridImageProcessor2DebugParametersNames[index];
00106       case linesSelfLocator: return linesSelfLocatorNames[index];
00107       case ballLocatorPIDs: return ballLocatorPIDNames[index];
00108       case bodyOffsets: return bodyOffsetNames[index];
00109       case odometryScale: return odometryScaleNames[index];
00110       case yetAnotherInvKinParams: return yetAnotherInvKinParamNames[index];
00111       case yetAnotherInvKinPaws: return yetAnotherInvKinPawsNames[index];
00112       case gt2005BallLocator1: return gt2005BallLocatorNames1[index];
00113       case gt2005BallLocator2: return gt2005BallLocatorNames2[index];
00114       case gt2005TeamBallLocator: return gt2005TeamBallLocatorNames[index];
00115       case comboBallLocator: return comboBallLocatorNames[index];
00116       case gtCamKalmanBallFilter: return gtCamKalmanBallFilterNames[index];
00117       default: return noNames[index];
00118     }
00119   }
00120 
00121   static MessageID getMessageID(GenericDebugDataID genericDebugDataID)
00122   {
00123     switch(genericDebugDataID)
00124     {
00125       case imageProcessor: return idImageProcessorParameters;
00126       case linesSelfLocator: return idLinesSelfLocatorParameters;
00127       case bodyOffsets: return idBodyOffsets;
00128       case odometryScale: return idOdometryScale;
00129       case yetAnotherInvKinParams: return idYetAnotherInvKinParams;
00130       case yetAnotherInvKinPaws: return idYetAnotherInvKinPaws;
00131       case gt2005BallLocator1: return idGT2005BallLocator1;
00132       case gt2005BallLocator2: return idGT2005BallLocator2;
00133       case gt2005TeamBallLocator: return idGT2005TeamBallLocator;
00134       case comboBallLocator: return idComboBallLocator;
00135       case gtCamKalmanBallFilter: return idGTCamKalmanBallFilter;
00136       default: return idGenericDebugData;
00137     }
00138   }
00139 
00140   static double getDefaultValue(GenericDebugDataID genericDebugDataID, int index)
00141   {
00142     double imageProcessorValues[10] = {5,15,8,0,0,0,0,0,0,0};
00143     double gridImageProcessor2DebugParametersValues[10] = {5,40,0,0,0,0,0,0,0,0};
00144     double linesSelfLocatorValues[10] = {0.01,0.005,2,150,10,2,200,0.5,0,0};
00145     double yetAnotherInvKinParamsValues[10] = {23.0,0.0,106.0,10.2,10,10,0,0,0,0};
00146     double yetAnotherInvKinPawsValues[10] = {36.0,7.0,111.0,32.2,0,0,0,0,0,0};
00147     double gt2005BallLocator1Values[10] = {2.1328658564525527, 1.1681396, 3.977, 1.5005028759756203, 6.9667348197050852, 3.4395392005696981, 26.425595357345873, 8.6334179475266453, 16.310347444929196, 0};
00148     double gt2005BallLocator2Values[10] = {15.05297, 20.75787543, 4.2172, 11.9061195, 30.848, 38.5559, 8.76583, 16.1997, 14.1873, 0};
00149     double gt2005TeamBallLocatorValues[10] = {5, 8, 4, 0, 10, 20, 80, 100, 0, 0};
00150     double comboBallLocatorValues[10] = {2, 1, 1, 0, 2, 1, 1, 0, 0, 0};
00151     double gtCamKalmanBallFilterValues[10] = {2, 2, 30, 30, 1, 1, 50, 50, 0, 0};
00152 
00153     switch(genericDebugDataID)
00154     {
00155       case imageProcessor: return imageProcessorValues[index];
00156       case gridImageProcessor2DebugParameters: return gridImageProcessor2DebugParametersValues[index];
00157       case linesSelfLocator: return linesSelfLocatorValues[index];
00158       case yetAnotherInvKinParams: return yetAnotherInvKinParamsValues[index];
00159       case yetAnotherInvKinPaws: return yetAnotherInvKinPawsValues[index];
00160       case gt2005BallLocator1: return gt2005BallLocator1Values[index];
00161       case gt2005BallLocator2: return gt2005BallLocator2Values[index];
00162       case gt2005TeamBallLocator: return gt2005TeamBallLocatorValues[index];
00163       case comboBallLocator: return comboBallLocatorValues[index];
00164       case gtCamKalmanBallFilter: return gtCamKalmanBallFilterValues[index];
00165       default: return 0;
00166     }
00167   }
00168 
00169   static double getMinValue(GenericDebugDataID genericDebugDataID, int index)
00170   {
00171     double gridImageProcessor2DebugParametersValues[10] = {1,1,0,0,0,0,0,0,0,0};
00172     double yetAnotherInvKinParamsValues[10] = {0,0,60,9.5,8.5,8.5,0,0,0,0};
00173     double yetAnotherInvKinPawsValues[10] = {0,0,60,9.5,8.5,8.5,0,0,0,0};
00174     double gt2005BallLocator1Values[10] = {0,0,0,0,0,0,0,0,0,0};
00175     double gt2005BallLocator2Values[10] = {0,0,0,0,0,0,0,0,0,0};
00176     double gt2005TeamBallLocatorValues[10] = {0,0,0,0,0,0,0,0,0,0};
00177     double comboBallLocatorValues[10] = {1,0,0,0,0,1,0,1,0,0};
00178     double gtCamKalmanBallFilterValues[10] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
00179 
00180     switch(genericDebugDataID)
00181     {
00182       case gridImageProcessor2DebugParameters: return gridImageProcessor2DebugParametersValues[index];
00183       case yetAnotherInvKinParams: return yetAnotherInvKinParamsValues[index];
00184       case yetAnotherInvKinPaws: return yetAnotherInvKinPawsValues[index];
00185       case gt2005BallLocator1: return gt2005BallLocator1Values[index];
00186       case gt2005BallLocator2: return gt2005BallLocator2Values[index];
00187       case gt2005TeamBallLocator: return gt2005TeamBallLocatorValues[index];
00188       case comboBallLocator: return comboBallLocatorValues[index];
00189       case gtCamKalmanBallFilter: return gtCamKalmanBallFilterValues[index];
00190       default: return 0;
00191     }
00192   }
00193 
00194   static double getMaxValue(GenericDebugDataID genericDebugDataID, int index)
00195   {
00196     double gridImageProcessor2DebugParametersValues[10] = {100,200,1,100,0,0,0,0,0,0};
00197     double yetAnotherInvKinParamsValues[10] = {100,100,200,10.5,12,12,80,150,100,100};
00198     double yetAnotherInvKinPawsValues[10] = {100,100,200,100,100,100,0,0,0,0};
00199     double gt2005BallLocator1Values[10] = {100,100,100,100,100,200,180,100,200,100};
00200     double gt2005BallLocator2Values[10] = {100,100,100,100,100,100,100,100,100,100};
00201     double gt2005TeamBallLocatorValues[10] = {100,50,100,100,100,100,100,100,100,100};
00202     double comboBallLocatorValues[10] = {10,10,3,1,1,2,2,2,1,0};
00203     double gtCamKalmanBallFilterValues[10] = {100,100,100,100,100,100,100,100,100,100};
00204 
00205     switch(genericDebugDataID)
00206     {
00207       case gridImageProcessor2DebugParameters: return gridImageProcessor2DebugParametersValues[index];
00208       case yetAnotherInvKinParams: return yetAnotherInvKinParamsValues[index];
00209       case yetAnotherInvKinPaws: return yetAnotherInvKinPawsValues[index];
00210       case gt2005BallLocator1: return gt2005BallLocator1Values[index];
00211       case gt2005BallLocator2: return gt2005BallLocator2Values[index];
00212       case gt2005TeamBallLocator: return gt2005TeamBallLocatorValues[index];
00213       case comboBallLocator: return comboBallLocatorValues[index];
00214       case gtCamKalmanBallFilter: return gtCamKalmanBallFilterValues[index];
00215       default: return 0;
00216     }
00217   }
00218 
00219   int id;
00220   double data[10];
00221 };
00222 
00223 /**
00224  * Streaming operator that reads GenericDebugData from a stream.
00225  * @param stream The stream from which is read.
00226  * @param d The GenericDebugData object.
00227  * @return The stream.
00228  */ 
00229 In& operator>>(In& stream, GenericDebugData& d);
00230  
00231 /**
00232  * Streaming operator that writes GenericDebugData to a stream.
00233  * @param stream The stream to write on.
00234  * @param d The GenericDebugData object.
00235  * @return The stream.
00236  */ 
00237 Out& operator<<(Out& stream, GenericDebugData& d);
00238 
00239 #endif //__GenericDebugData_h_