Modules/MotionControl/MotionControl.h

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/**
* @file MotionControl.h
* 
* Definition of class MotionControl.
*/

#ifndef __MotionControl_h_
#define __MotionControl_h_

#include "Tools/Module/Module.h"

#include "Representations/Motion/HeadMotionRequest.h"
#include "Representations/Motion/JointDataBuffer.h"
#include "Representations/Motion/PIDData.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/Motion/MotionInfo.h"

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

#include "Modules/WalkingEngine/GT2004ParameterSet.h"

//****for GT2005WalkingEngine****
#include "Modules/WalkingEngine/GT2005Parameters.h"
#include "Modules/WalkingEngine/GT2005DebugData.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 MotionControlInterfaces
*
* The interfaces of the MotionControl module.
*/
class MotionControlInterfaces
{
public:
  /** Constructor */ 
  MotionControlInterfaces(
    const unsigned long& frameNumber,
    const MotionRequest& motionRequest, 
    const HeadMotionRequest& headMotionRequest,
    const SensorDataBuffer& sensorDataBuffer,
    const BodyPosture& bodyPosture,
    const InvKinWalkingParameters& invKinWalkingParameters,
    const GT2004Parameters& gt2004Parameters,
    const unsigned long& walkParameterTimeStamp,
    const bool& receivedNewSensorData,
    JointDataBuffer& jointDataBuffer, 
    PIDData& pidData,
    OdometryData& odometryData,
    MotionInfo& motionInfo,
    bool headIsBlockedBySpecialActionOrWalk,
  //****for GT2005WalkingEngine****
  GTWalkParametersIndividual& gt2005Parameters,
  GT2005DebugData& gt2005DebugData)
    :
    frameNumber(frameNumber),
    motionRequest(motionRequest),
    headMotionRequest(headMotionRequest),
    sensorDataBuffer(sensorDataBuffer),
    bodyPosture(bodyPosture),
    invKinWalkingParameters(invKinWalkingParameters),
    gt2004Parameters(gt2004Parameters),
    walkParameterTimeStamp(walkParameterTimeStamp),
    receivedNewSensorData(receivedNewSensorData),
    jointDataBuffer(jointDataBuffer),
    pidData(pidData),
    odometryData(odometryData),
    motionInfo(motionInfo),
    headIsBlockedBySpecialActionOrWalk(headIsBlockedBySpecialActionOrWalk),
  //****for GT2005WalkingEngine****
  gt2005Parameters(gt2005Parameters),
  gt2005DebugData(gt2005DebugData)
{}

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

  /** A request from the behavior control */  
  const MotionRequest& motionRequest;
  
  /** Head joint values from the head control */
  const HeadMotionRequest& headMotionRequest;
  
  /** The current body sensor data */
  const SensorDataBuffer& sensorDataBuffer;
  
  /** The current body posture */
  const BodyPosture& bodyPosture;
  
  /** walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior */
  const InvKinWalkingParameters& invKinWalkingParameters;
  const GT2004Parameters& gt2004Parameters;
  const unsigned long& walkParameterTimeStamp;

  /** Indicates that the Motion Process received a new SensorDataBuffer */
  const bool& receivedNewSensorData;
  
  /** A buffer of joint data to be filled */
  JointDataBuffer& jointDataBuffer;

  /** The current PID servo gains */
  PIDData& pidData;
  
  /** The odometry to be incremented */
  OdometryData& odometryData;

  /** The height of the neck and the body tilt to be calculated */
  MotionInfo& motionInfo;

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

  //****for GT2005WalkingEngine****
  GTWalkParametersIndividual& gt2005Parameters;
  GT2005DebugData& gt2005DebugData;
};

/** 
* @class MotionControl
*
* A generic class for motion control modules.
* MotionControl is responsible for setting values for the joints of the robot 
*/
class MotionControl : public Module, public MotionControlInterfaces, public RobotDimensions
{
public:
/*
* Constructor.
* @param interfaces The paramters of the MotionControl module.
  */
  MotionControl(const MotionControlInterfaces& interfaces)
    : MotionControlInterfaces(interfaces),
      RobotDimensions(getRobotConfiguration().getRobotDimensions())
  {}
  
  /** Destructor */
  virtual ~MotionControl() {}
};

#endif //__MotionControl_h_

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