Modules/SelfLocator/LinesTables2004.cpp

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/**
 * @file Modules/SelfLocator/LinesTables2004.cpp
 * 
 * This file contains a class that represents the tables used for localization based on field lines.
 *
 * @author <A href=mailto:roefer@tzi.de>Thomas Röfer</A>
 */

#include "LinesTables2004.h"
#include "Tools/Debugging/Debugging.h"
#include "Tools/Streams/InStreams.h"

Field LinesTables2004::field;
LinesTables2004::ObsTable* LinesTables2004::observationTable = 0;
LinesTables2004::TempTable* LinesTables2004::templateTable = 0;
int LinesTables2004::refCount = 0;

//#define SAVE
#ifdef HUGE_FIELD
static const char* fileName = "lines04h.tab";
#else
static const char* fileName = "lines04.tab";
#endif

LinesTables2004::LinesTables2004()
{
  if(!refCount++)
  {
    int i;
    observationTable = new ObsTable[LinesPercept::numberOfLineTypes + 1];
    templateTable = new TempTable[2];

#ifdef SAVE
    OutBinaryFile stream(fileName);
    for(i = 0; i < LinesPercept::numberOfLineTypes + 1; ++i)
    {
      if(i == LinesPercept::field)
        observationTable[i].create(field,LinesPercept::xField);
      else if(i == LinesPercept::numberOfLineTypes)
        observationTable[i].create(field,LinesPercept::yField);
      else
        observationTable[i].create(field,LinesPercept::LineType(i));
      stream << observationTable[i];
    }
    templateTable[0].create(field,LinesPercept::yellowGoal);
    templateTable[LinesPercept::skyblueGoal - LinesPercept::yellowGoal].create(field,LinesPercept::skyblueGoal);
    stream << templateTable[0] << templateTable[1];
#else
    InBinaryFile stream(fileName);
    if(stream.exists())
    {
      for(i = 0; i < LinesPercept::numberOfLineTypes + 1; ++i)
        stream >> observationTable[i];
      stream >> templateTable[0] >> templateTable[1];
    }
    else
    {
      OUTPUT(idText, text, "LinesTables2004 : " << fileName << " not found");
    }
#endif
  }
}

LinesTables2004::~LinesTables2004()
{
  if(!--refCount)
  {
    delete [] observationTable;
    delete [] templateTable;
  }
}

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