Modules/BehaviorControl/KickLogger.h

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/**
* @file KickLogger.h
* 
* Definition of class KickLogger.
*
* @author Martin Lötzsch
*/

#ifndef __KickLogger_h_
#define __KickLogger_h_

#include "BehaviorControl.h"
#include "Tools/KickSelectionTable.h"

//#define USE_CEILING_CAM

/**
* @class KickLogger
*
* Runs in parallel to a xabsl behavior control and logs the preconditions
* and results of each kick.
*
* @author Martin Lötzsch
*/ 
class KickLogger : public BehaviorControlInterfaces
{
public:
  /** 
  * Constructor.
  * @param interfaces The paramters of the BehaviorControl module.
  */
  KickLogger(BehaviorControlInterfaces& interfaces);

  /** destructor */
  ~KickLogger();

  /** Executes the logger */
  void execute();

private:
  /** Different states of the shoot logger */
  enum State { initial, kickRequested, kickStarted, kickFinished, 
    waitingForBall, wait };

  /** The state of the logger */
  State state;

  /** Changes the state of the logger */
  void changeState(State newState);

  /** The time of the last state change */
  unsigned long timeOfLastStateChange;

  /** 
  * Writes a collected record if requested by 
  * a debug key to the debug message queue.
  */
  void record();

  /** The kick record */
  KickCase kick;

  /** The requested kick */
  SpecialActionRequest::SpecialActionID kickID;

  /** The odometry data when the kick was started */
  OdometryData odometryDataWhenKickWasStarted;

  /** Returns the relative x position of a ball position */
  double getBallX(Pose2D from);

  /** Returns the relative y position of a ball position */
  double getBallY(Pose2D from);
};

#endif// __KickLogger_h_

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