Processes/CMD/Motion.h

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/**
* @file Motion.h
* Declaration of Motion
* @author <A href=mailto:brunn@sim.informatik.tu-darmstadt.de>Ronnie Brunn</A>, <A href=mailto:kuntze@sim.informatik.tu-darmstadt.de>Nicolai Kuntze</A>, <A href=mailto:kunz@sim.informatik.tu-darmstadt.de>Michael Kunz</A>
* @author Max Risler
*/

#ifndef __Motion_h_
#define __Motion_h_

#include "Tools/Process.h"

#include "Modules/SensorDataProcessor/SensorDataProcessorSelector.h"
#include "Modules/HeadControl/HeadControlSelector.h"
#include "Modules/LEDControl/LEDControlSelector.h"
#include "Modules/SoundControl/SoundControlSelector.h"
#include "Modules/MotionControl/MotionControlSelector.h"
#include "Tools/Debugging/Trace.h"

#include "PackageMotionCognition.h"
#include "PackageCognitionMotion.h"

/**
* @class Motion 
*
* A process for actorics. 
*/
class Motion : public Process
{
private:
  DEBUGGING;
  RECEIVER(SensorDataBuffer);
  RECEIVER(PackageCognitionMotion);
  SHARED_SENDER(Trace);
  SHARED_RECEIVER(Trace);

  SENDER_MOTORCOMMANDS;
  SENDER_SOUNDDATA;
  SENDER(PackageMotionCognition);
  SENDER(OdometryData);
public:
  
  Motion();
  
  ~Motion();
  
  /** is called from the framework once in every frame */
  virtual int main();
  
  /** is called direct before the first call of main() */
  virtual void init();

  /** 
  * The function handles incoming debug messages.
  * @param message the message to handle
  * @return Has the message been handled?
  */
  virtual bool handleMessage(InMessage& message);
  
protected:
  //!@name modules
  //!@{
  
  /** a reference to the sensor data processor */
  SensorDataProcessorSelector* pSensorDataProcessor;

  /** a pointer to the HeadControl module */
  HeadControlSelector *pHeadControl;
  
  /** a pointer to the LEDControl module */
  LEDControlSelector *pLEDControl;
  
  /** a pointer to the MotionControl module */
  MotionControlSelector *pMotionControl;

  /** a pointer to the SoundControl module */
  SoundControlSelector *pSoundControl;
  
  //!@}
  unsigned int motionControlExecuteSlowMotion;

  //!@name representations
  //!@{
  
  /** the head motion request */
  HeadMotionRequest headMotionRequest;

  /** The position and rotation of the camera relative to the robot */
  CameraMatrix cameraMatrix;

  /** The psd percept calculated by the sensor data processor */
  PSDPercept psdPercept;

  /** The body percept calculated by the sensor data processor */
  BodyPercept bodyPercept;

  /** The height and the inclination of the robot's body */
  BodyPosture bodyPosture;

  /** The odometry which was calculated in the before last frame */
  OdometryData lastOdometry;

  /** obstacles model from cognition */
  ObstaclesModel obstaclesModel;

  /** Frame number in which robot pose was last updated */
  unsigned long lastFrameRobotPoseWasUpdated;

  /** Used to update robot pose */
  RingBuffer<OdometryData,40> odometryHistory;
  //!@}

  /** 
  * Can be used to slow down the game for debugging purposes (slow motion). 
  * Is multiplied to the incoming MotionRequest and to the outgoing executedMotionRequest.
  * 1: Normal speed -- 0.1: almost dont move
  */
  double gameSpeed;

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

  /** Has a trace already been stored? */
  bool traceStored;
#ifndef NDEBUG
  bool replace;
  Pose2D walkParams;
#endif
};

#endif // __Motion_h_

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