Modules/BehaviorControl/CommonXabsl2Symbols/ObstaclesSymbols.h

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/**
* @file ObstaclesSymbols.h
*
* Declaration of class ObstaclesSymbols.
*
* @author Max Risler
*/

#ifndef __ObstaclesSymbols_h_
#define __ObstaclesSymbols_h_

#include "../BehaviorControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"


/**
* The Xabsl2 symbols that are defined in "obstacles-symbols.xml"
*
* @author Max Risler
*/
class ObstaclesSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the BehaviorControl module.
  */
  ObstaclesSymbols(const BehaviorControlInterfaces& interfaces);

  
  enum { sizeOfArray = 5 };

  double lastValuesLeft[sizeOfArray];
  int lastValuesMiddle[sizeOfArray];
  double lastValuesRight[sizeOfArray];


  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);

    /** updates the symbols */
  void update();

  //!@name Input symbols
  //!@{
  bool getCollisionFrontLeft();  /*!< A function for the symbol "self.collision-front-left" */
  bool getCollisionFrontRight();  /*!< A function for the symbol "self.collision-front-right" */
  bool getCollisionHindLeft();  /*!< A function for the symbol "self.collision-hind-left" */
  bool getCollisionHindRight();  /*!< A function for the symbol "self.collision-hind-right" */
  bool getCollisionHead();  /*!< A function for the symbol "self.collision-head" */
  bool getCollisionAggregate();  /*!< A function for the symbol "self.collision-aggregate" */
  double getOdometryDisturbance(); /*!< A function for the symbol "self.odometry-disturbance" */
  double getConsecutiveCollisionTimeFrontLeft();  /*!< A function for the symbol "self.consecutive-collision-time-front-left" */
  double getConsecutiveCollisionTimeFrontRight();  /*!< A function for the symbol "self.consecutive-collision-time-front-right" */
  double getConsecutiveCollisionTimeHindLeft();  /*!< A function for the symbol "self.consecutive-collision-time-hind-left" */
  double getConsecutiveCollisionTimeHindRight();  /*!< A function for the symbol "self.consecutive-collision-time-hind-right" */
  double getConsecutiveCollisionTimeHead();  /*!< A function for the symbol "self.consecutive-collision-time-head" */
  double getConsecutiveCollisionTimeAggregate();  /*!< A function for the symbol "self.consecutive-collision-time-aggregate" */

  double getMinDistanceLeft();
  double getMinDistanceRight();
  double getMinDistanceMiddle();

  int getCollisionSide();  /*!< A function for the symbol "self.collision-side" */
  bool getObstacleInFront();
  double getNearestObstacleFrontLeft();
  double getNearestObstacleFrontRight();
  //!@}

  /** Indicates if the robot is stuck (based on obstacles model)*/
  bool robotIsStuck;

  /** Indicates that there are close obstacles */
  bool obstaclesAreClose;

  /** Indicates that there are opponents in the direction of the ball */
  bool opponentsCloseToBall;
};


#endif // __ObstaclesSymbols_h_

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