Representations/Motion/JointData.h

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/** 
* @file JointData.h
*
* Definition of JointData struct.
* The jointdata struct is a non NDA violating description of join vector data
*
* @author Max Risler
*/
#ifndef __JOINTDATA_H__
#define __JOINTDATA_H__

/** Invalid motor data value. 
 * If this value was returned by motion module for the head, 
 * other head movement is possible */
static const long jointDataInvalidValue = 10000000;

#include "Tools/Streams/InOut.h"
#include "Tools/Streams/Streamable.h"

/**
* One joint data set. Containing values for all used joints.
* @author Max Risler
*/
struct JointData : public Streamable
{
  void serialize(In* in, Out* out)
  {
    STREAM_REGISTER_BEGIN();
    STREAM(data[neckTilt]);
    STREAM(data[headPan]);
    STREAM(data[headTilt]);
    STREAM(data[mouth]);
    STREAM(data[earL]);
    STREAM(data[earR]);
    STREAM(data[legFR1]); 
    STREAM(data[legFR2]); 
    STREAM(data[legFR3]);
    STREAM(data[legFL1]);
    STREAM(data[legFL2]); 
    STREAM(data[legFL3]);
    STREAM(data[legHR1]);
    STREAM(data[legHR2]);
    STREAM(data[legHR3]);
    STREAM(data[legHL1]);
    STREAM(data[legHL2]);
    STREAM(data[legHL3]);
    STREAM(data[tailPan]);
    STREAM(data[tailTilt]);
    STREAM_REGISTER_FINISH();
  }

public:
  /**
   * enum describing indexes of joints 
   */
  enum JointID {
    headTilt210,
    neckTilt = headTilt210,
    headPan210,
    headPan = headPan210,
    headRoll210, 
    headTilt = headRoll210,
    mouth,
    earL, earR,
    legFR1, legFR2, legFR3,
    legFL1, legFL2, legFL3,
    legHR1, legHR2, legHR3,
    legHL1, legHL2, legHL3,
    tailPan, tailTilt,
      numOfJoint
  };

  /** The joint data values */
  long data[numOfJoint];
  
  /** Default constructor */
  JointData(long headTiltValue = jointDataInvalidValue,
    long headPanValue = jointDataInvalidValue,
    long headRollValue = jointDataInvalidValue,
    long mouthValue = jointDataInvalidValue,
    long earLValue = jointDataInvalidValue, 
    long earRValue = jointDataInvalidValue,
    long legFR1Value = jointDataInvalidValue, 
    long legFR2Value = jointDataInvalidValue, 
    long legFR3Value = jointDataInvalidValue,
    long legFL1Value = jointDataInvalidValue, 
    long legFL2Value = jointDataInvalidValue, 
    long legFL3Value = jointDataInvalidValue,
    long legHR1Value = jointDataInvalidValue, 
    long legHR2Value = jointDataInvalidValue, 
    long legHR3Value = jointDataInvalidValue,
    long legHL1Value = jointDataInvalidValue, 
    long legHL2Value = jointDataInvalidValue, 
    long legHL3Value = jointDataInvalidValue,
    long tailPanValue = jointDataInvalidValue, 
    long tailTiltValue = jointDataInvalidValue
  );

  /** Assignment operator */
  JointData& operator=(const JointData& other);

  /** Copy constructor */
  JointData(const JointData& other);

  /** returns the name of a joint */
  static const char* getJointName(JointID joint)
  {
    switch (joint)
    {
    case headTilt210: return "neckTilt (headTilt210)";
    case headPan210: return "headPan"; 
    case headRoll210: return "headTilt (headRoll210)"; 
    case mouth: return "mouth"; 
    case earL: return "earL"; 
    case earR: return "earR"; 
    case legFR1: return "legFR1"; 
    case legFR2: return "legFR2"; 
    case legFR3: return "legFR3"; 
    case legFL1: return "legFL1"; 
    case legFL2: return "legFL2"; 
    case legFL3: return "legFL3"; 
    case legHR1: return "legHR1"; 
    case legHR2: return "legHR2"; 
    case legHR3: return "legHR3"; 
    case legHL1: return "legHL1"; 
    case legHL2: return "legHL2"; 
    case legHL3: return "legHL3"; 
    case tailPan: return "tailPan"; 
    case tailTilt: return "tailTilt"; 
    default: return "";
    }
  }

  static JointID getIDFromName(const char* jointName);
};

/**
 * Streaming operator that reads a JointData from a stream.
 * @param stream The stream from which is read.
 * @param jointData The JointData object.
 * @return The stream.
 */ 
//In& operator>>(In& stream,JointData& jointData);
 
/**
 * Streaming operator that writes a JointData to a stream.
 * @param stream The stream to write on.
 * @param jointData The JointData object.
 * @return The stream.
 */ 
//Out& operator<<(Out& stream, const JointData& jointData);

#endif //__JOINTDATA_H__

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