Representations/Motion/HeadControlMode.h

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/**
* @file HeadControlMode.h
* 
* Based on old implementation of HeadControlMode from GT2001
*
* Declaration of class HeadControlMode
* Stores head modes requested by BehaviorControl
*
* @author Matthias Juengel
* @author Nils Koschmieder
*/ 

#ifndef __HeadControlMode_h_
#define __HeadControlMode_h_

#include "Tools/Streams/InOut.h"
#include "Tools/Math/Vector3.h"
#include "Tools/Math/Vector2.h"
#include "Tools/Streams/Streamable.h"


/**
* Stores head modes requested by BehaviorControl
*/
class HeadControlMode : public Streamable
{
public:
  
  virtual void serialize( In* in, Out* out)
  {
    STREAM_REGISTER_BEGIN();
    STREAM_ENUM( headControlMode, numOfHeadControlModes, HeadControlMode::getHeadControlModeName);
    // STREAM_ENUMASINT( headControlMode);
    STREAM( directTilt);
    STREAM( directPan);
    STREAM( directRoll);
    STREAM( directSpeed);
    STREAM( directMouth);
    STREAM( durationInEvolution);
    STREAM_REGISTER_FINISH();
  }
  
  /** constructor */
  HeadControlMode();

  /** destructor */
  ~HeadControlMode();
  
  /** possible head control modes */
  enum HeadControlModes 
  {
      none,
      searchForBall,
      searchAuto,
      searchForLandmarks,
      searchForLandmarksHeadLow,
      scanForObstacles, 
      lookAtMostInformativeLandmark,
      lookAtBluePinkLandmark,
      lookBetweenFeet,
      lookLeft,
      lookRight,
      lookStraightAhead,
      catchBall,
      lookBetweenFeetForCarriedBall,
      catchBallHigh,
      holdBall,
      releaseCaughtBallWhenTurningLeft,
      releaseCaughtBallWhenTurningRight,
      stayAsForced,
      lookToStars,
      snapAtFinger,
      lookParallelToGround,
      lookTowardOpponentGoal,
      directedScanForLandmarks,
      directedScanForObstacles,

      direct,
      calibrate,
      calibrateHeadSpeed,
      watchOrigin,
      
      openChallengePullBridge,
      openChallengeTest,
      openChallengeTest2,
      openChallengeGoToBridge,
      openChallengeJoysickMode,
      openChallengeReset,

      searchForBallLeft,
      searchForBallRight,

      lookAtInsertionPointBackLeft,
      lookAtInsertionPointBackRight,

      lookAtInsertionPointMiddleLeft,
      lookAtInsertionPointMiddleRight,

      lookAtInsertionPointFrontLeft,
      lookAtInsertionPointFrontRight,

      lookAroundPropagatedBallPosition,
      lookAroundCommunicatedBallPosition,

      searchForLandmarksEvolution,

      realSlowScan,

      numOfHeadControlModes
  };
  
  /** The requested head control mode */
  HeadControlModes headControlMode;
  
  /** Returns the name of a HeadTrackMode. */ 
  static const char* getHeadControlModeName(HeadControlModes mode)
  {
    switch(mode)
    {
      case none: return "none";
      case searchForBall: return "searchForBall";
      case searchAuto: return "searchAuto";
      case searchForLandmarks: return "searchForLandmarks";
      case scanForObstacles: return "scanForObstacles"; 
      case searchForLandmarksHeadLow: return "searchForLandmarksLow";
      case lookAtMostInformativeLandmark: return "lookAtMostInformativeLandmark";
      case lookAtBluePinkLandmark: return "lookAtBluePinkLandmark";
      case lookBetweenFeet: return "lookBetweenFeet";
      case lookLeft: return "lookLeft";
      case lookRight: return "lookRight";
      case lookStraightAhead: return "lookStraightAhead";
      case catchBall: return "catchBall";
      case lookBetweenFeetForCarriedBall: return "lookBetweenFeetForCarriedBall";
      case catchBallHigh: return "catchBallHigh";
      case holdBall: return "holdBall";
      case releaseCaughtBallWhenTurningLeft: return "releaseCaughtBallWhenTurningLeft";
      case releaseCaughtBallWhenTurningRight: return "releaseCaughtBallWhenTurningRight";
      case stayAsForced: return "stayAsForced";
      case lookToStars: return "lookToStars";
      case snapAtFinger: return "snapAtFinger";
      case lookParallelToGround: return "lookParallelToGround";
      case lookTowardOpponentGoal: return "lookTowardOpponentGoal";
      case directedScanForLandmarks: return "directedScanForLandmarks";
      case directedScanForObstacles: return "directedScanForObstacles"; 

      case direct: return "direct";
      case calibrate: return "calibrate";
      case calibrateHeadSpeed: return "calibrateHeadSpeed";
      case watchOrigin: return "watchOrigin";

      case openChallengePullBridge: return "openChallengePullBridge";
      case openChallengeTest: return "openChallengeTest";
      case openChallengeTest2: return "openChallengeTest2";
      case openChallengeGoToBridge: return "openChallengeGoToBridge";
      case openChallengeJoysickMode: return "openChallengeJoysickMode";
      case openChallengeReset: return "openChallengeReset";

      case searchForBallLeft: return "searchForBallLeft";
      case searchForBallRight: return "searchForBallRight";

      case lookAtInsertionPointBackLeft: return "lookAtInsertionPointBackLeft";
      case lookAtInsertionPointBackRight: return "lookAtInsertionPointBackRight";
      case lookAtInsertionPointMiddleLeft: return "lookAtInsertionPointMiddleLeft";
      case lookAtInsertionPointMiddleRight: return "lookAtInsertionPointMiddleRight";
      case lookAtInsertionPointFrontLeft: return "lookAtInsertionPointFrontLeft";
      case lookAtInsertionPointFrontRight: return "lookAtInsertionPointFrontRight";
      case lookAroundPropagatedBallPosition: return "lookAroundPropagatedBallPosition";
      case lookAroundCommunicatedBallPosition: return "lookAroundCommunicatedBallPosition";

      case searchForLandmarksEvolution: return "searchForLandmarksEvolution";
      case realSlowScan: return "realSlowScan";

      default:return "unknown Mode";
    }
  }

  /** Parameters for direct mode */
  long directTilt, directPan, directRoll, directSpeed, directMouth;
  unsigned int durationInEvolution;
};

#endif //__HeadControlMode_h_

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