Modules/GetupEngine/GetupEngine.h

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/**
* @file GetupEngine.h
* 
* Definition of class GetupEngine
* 
* @author Max Risler
*/

#ifndef __GetupEngine_h_
#define __GetupEngine_h_

#include "Tools/Module/Module.h"

#include "Representations/Perception/SensorDataBuffer.h"
#include "Representations/Perception/BodyPosture.h"
#include "Representations/Motion/JointData.h"
#include "Representations/Motion/PIDData.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/Motion/MotionInfo.h"

/**
* @class GetupEngineInterfaces
* 
* Interfaces of the GetupEngine module.
*/
class GetupEngineInterfaces
{
public:
  /** Constructor */
  GetupEngineInterfaces(
    const MotionRequest::MotionID& lastMotionType,
    const SensorDataBuffer& sensorDataBuffer,
    const MotionRequest& motionRequest,
    const BodyPosture& bodyPosture,
    PIDData& pidData,
    OdometryData& odometryData,
    MotionInfo& motionInfo)
    : lastMotionType(lastMotionType),
    sensorDataBuffer(sensorDataBuffer),
    motionRequest(motionRequest),
    bodyPosture(bodyPosture),
    pidData(pidData),
    odometryData(odometryData),
    motionInfo(motionInfo)
  {}
protected:  
  /** The motion type of the previous frame */
  const MotionRequest::MotionID& lastMotionType;
  
  /** The current sensor data */
  const SensorDataBuffer& sensorDataBuffer;
  
  /** The current motion request */
  const MotionRequest& motionRequest;
  
  /** The current body posture */
  const BodyPosture& bodyPosture;
  
  /** The current PID servo gains */
  PIDData& pidData;

  /** Calculated odometry data */
  OdometryData& odometryData;

  /** The neck height and the body tilt to be estimated by the getup engine */
  MotionInfo& motionInfo;
};

/**
* @class GetupEngine
* 
* A generic class for getup engine modules.
*
* The getup engine lets the robot stand up from any position
* by generating appropriate joint data.
*
* @author Max Risler
*/
class GetupEngine : public Module, protected GetupEngineInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the GetupEngine module.
  */
  GetupEngine(const GetupEngineInterfaces& interfaces)
    : GetupEngineInterfaces(interfaces)
  {}
  
  /**
  * calculates the next joint data set
  * @param jointData stores calculated frame
  * @return true if next set should be calculated by GetupEngine
  *         false if change to other module can occur
  */
  virtual bool executeParameterized(JointData& jointData) = 0;
  
  /** Destructor */
  virtual ~GetupEngine() {}
  
protected:
  /** That function is not used but has to be implemented */
  virtual void execute() {};
};

#endif //__GetupEngine_h_

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