Modules/HeadControl/HeadControl.h

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/**
* @file HeadControl.h
* 
* This file contains a generic class for HeadControl.
*/

#ifndef __HeadControl_h_
#define __HeadControl_h_

#ifdef _WIN32
#pragma warning(disable:4786) 
// the constructor with all it's long parameter type names results in a too
// long debug identifier
#endif


#include "Tools/Module/Module.h"

#include "Representations/Perception/SensorDataBuffer.h"
#include "Representations/Perception/BodyPosture.h"
#include "Representations/Perception/CameraMatrix.h"

#include "Representations/Cognition/LandmarksState.h"
#include "Representations/Cognition/RobotPose.h"
#include "Representations/Cognition/RobotState.h"
#include "Representations/Cognition/BallModel.h"
#include "Representations/Cognition/ObstaclesModel.h"

#include "Representations/Motion/OdometryData.h"
#include "Representations/Motion/HeadControlMode.h"
#include "Representations/Motion/HeadMotionRequest.h"
#include "Representations/Motion/PIDData.h"
#include "Representations/Motion/MotionInfo.h"
#include "Representations/RoboCup/GameControlData.h"

#include "Tools/Debugging/DebugDrawings.h"
#include "Tools/RobotConfiguration.h"
#include "Tools/RingBuffer.h"

#ifdef _WIN32
#pragma warning(disable:4786) 
// the constructor with all it's long parameter type names results in a too
// long debug identifier
#endif

/**
* @class HeadControlInterfaces
* 
* The interfaces of the HeadControl module.
*/
class HeadControlInterfaces
{
public:
  /** Constructor. */
  HeadControlInterfaces(
    const unsigned long& frameNumber,
    const SensorDataBuffer& sensorDataBuffer, 
    const CameraMatrix& cameraMatrix,
    const OdometryData& currentOdometryData,
    const BodyPosture& bodyPosture,
    const LandmarksPercept& landmarksPercept,
    const BallModel& ballModel,
    const RobotPose& robotPose,
    const LandmarksState& landmarksState,
    const RobotState& robotState,
    const MotionRequest& mR,
    const MotionInfo& motionInfo,
    const HeadControlMode& headControlMode,
    const ObstaclesModel& obstaclesModel,
    const bool headIsBlockedBySpecialActionOrWalk,
    const GameControlData& gameControlData,
    HeadMotionRequest& headMotionRequest,
    PIDData& pidData)
    :
    frameNumber(frameNumber),
    headControlMode(headControlMode),
    obstaclesModel(obstaclesModel),
    robotPose(robotPose),
    cameraMatrix(cameraMatrix),
    currentOdometryData(currentOdometryData),
    landmarksPercept(landmarksPercept),
    ballModel(ballModel),
    robotState(robotState),
    sensorDataBuffer(sensorDataBuffer),
    bodyPosture(bodyPosture),
    motionRequest(mR),
    motionInfo(motionInfo),
    landmarksState(landmarksState),
    headIsBlockedBySpecialActionOrWalk(headIsBlockedBySpecialActionOrWalk),
    headMotionRequest(headMotionRequest),
    pidData(pidData),
    gameControlData(gameControlData)
  {}

protected:
  /** A reference to the frame number */
  const unsigned long& frameNumber;

  /** A modus from the behavior how to move the head */
  const HeadControlMode& headControlMode;

  /** The robots current position and orientation */
  const RobotPose& robotPose;
  
  /** The position and rotation of the camera relative to the robot */
  const CameraMatrix& cameraMatrix;

  /** The odometry of the last Motion frame */ 
  const OdometryData& currentOdometryData;

  /** Detected landmarks */
  const LandmarksPercept& landmarksPercept;

  /** The position and the speed of the ball */
  const BallModel& ballModel;
  
  /** The current body sensor data */ 
  const SensorDataBuffer& sensorDataBuffer; 
  
  /** The neck height and body tilt */
  const BodyPosture& bodyPosture;

  /** motionRequest that is currently executed */
  const MotionRequest& motionRequest;

  /** information about the executed motions */
  const MotionInfo& motionInfo;

  /** the currently seen landmarks */
  const LandmarksState& landmarksState;

  /** The current state of the robot*/
  const RobotState& robotState;

  /** Specifies if the head is blocked by a special action or walk.*/
  const bool headIsBlockedBySpecialActionOrWalk;

  /** game Manager */
  const GameControlData& gameControlData;

  /** Head joint angles that have to be set. */
  HeadMotionRequest& headMotionRequest;

  /** obstacles model */
  const ObstaclesModel& obstaclesModel;

  /** PID servo gains */
  PIDData& pidData;
};

/**
* A generic class for HeadControl modules.
*
* The modul calculates a new head motion which has to be set by the motion module 
* based on the desired head mode and the current
* collection of percepts stored in the world state as well as the current
* sensor informations .
*/
class HeadControl : public Module, public HeadControlInterfaces, public RobotDimensions
{
public:
/*
* Constructor.
* @param interfaces The paramters of the HeadControl module.
  */
  HeadControl(const HeadControlInterfaces& interfaces)
    : HeadControlInterfaces(interfaces),
      RobotDimensions(getRobotConfiguration().getRobotDimensions())
  {}
  
  /** Destructor */
  virtual ~HeadControl() {}
};

#endif //__HeadControl_h_

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