Representations/Perception/MultipleBallPerceptList.h

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/**
 * @author <a href="mailto:Thorsten.Kerkhof@gmx.de">Thorsten Kerkhof</a>
 */

#ifndef __MultipleBallPerceptList_h_
#define __MultipleBallPerceptList_h_

#include "Tools/Math/Common.h"
#include "Tools/Math/Vector2.h"
#include "Tools/Math/Vector3.h"
#include "Representations/Perception/CameraMatrix.h"
#include "Tools/Actorics/RobotDimensions.h"
#include "Tools/RobotConfiguration.h"
#include "MultipleBallPerceptElement.h"


class MultipleBallPerceptList : public Streamable
{
  void serialize(In* in, Out* out)
  {
    STREAM_REGISTER_BEGIN();
    STREAM(panningVelocityError);
    STREAM_DYN_ARRAY(multiplePercepts, numberOfElements);
    STREAM_REGISTER_FINISH();
  }

public:
  MultipleBallPerceptList();

  MultipleBallPerceptElement& operator[](int index) {return multiplePercepts[index];}
  const MultipleBallPerceptElement& operator[](int index) const {return multiplePercepts[index];}
  
  void add(const MultipleBallPerceptElement& elem);

  void calculatePanningVelocityValue(double panningVelocity);

  int numberOfElements;

  //Needed for MSHTeamBallLocator, because the list is communicated it's inserted here:
  //the panning error is calculated for every ListElement
  double panningVelocityError;

private:
  MultipleBallPerceptElement multiplePercepts[5];
};

#endif

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