Representations/Perception/PSDPercept.h

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/**
* @file PSDPercept.h
* 
* Declaration of classes PSDPercept
*
* @author Martin Lötzsch
*/ 

#ifndef __PSDPercept_h_
#define __PSDPercept_h_


#include "Tools/Streams/InOut.h"
#include "Tools/Math/Vector3.h"
#include "SensorDataBuffer.h"


/**
* @class SinglePSDPercept
*
* A spot relative to the robot that was detected by the PSD Sensor.
*
* @author Martin Lötzsch
*/
class SinglePSDPercept : public Vector3<double>
{
public:

  /** The frame number when perceived. */
  unsigned long frameNumber; 

  /**
  * The functions sets the frame number
  */
  void setFrameNumber(unsigned long frameNumber) {this->frameNumber = frameNumber;}

  /** 
  * If true, then the object was farer away than 90 cm 
  * The measured distance is then clipped to 90 cm
  */
  bool tooFarAway;

  /** 
  * The tilt of the robot's head. Necessary because 
  * sometimes you don't want to trust the PSD if
  * things are measured below a certain PSD angle
  */
  double neckTilt;

  /** The PSDPercept is only valid if motion was stable. */
  bool isValid;

  /**
  * value of the body psd sensor (if present)
  */
  double body;

  /** Constructor */
  SinglePSDPercept();
  
  /** Destructor */
  ~SinglePSDPercept();
};

/**
* @class PSDPercept
*
* Class containg all single PSD spots perceived in one frame.
*
* @author Max Risler
*
*/
class PSDPercept
{
public:

  /** number of psd percepts */
  int numOfPercepts;

  /** array of single psd percepts */
  SinglePSDPercept percepts[SensorDataBuffer::maxNumOfFrames];

  /** Constructor */
  PSDPercept();

  /** Destructor */
  ~PSDPercept();

  /** [] operator */
  SinglePSDPercept& operator[](int index)
  {
    return percepts[index];
  }

  /** [] operator */
  const SinglePSDPercept& operator[](int index) const
  {
    return percepts[index];
  }

};


/**
* Streaming operator that reads a PSDPercept from a stream.
* @param stream The stream from which is read.
* @param psdPercept The PSDPercept object.
* @return The stream.
*/ 
In& operator>>(In& stream,PSDPercept& psdPercept);

/**
* Streaming operator that writes a PSDPercept to a stream.
* @param stream The stream to write on.
* @param psdPercept The PSDPercept object.
* @return The stream.
*/ 
Out& operator<<(Out& stream, const PSDPercept& psdPercept);

/**
* Streaming operator that reads a SinglePSDPercept from a stream.
* @param stream The stream from which is read.
* @param psdPercept The PSDPercept object.
* @return The stream.
*/ 
In& operator>>(In& stream,SinglePSDPercept& psdPercept);

/**
* Streaming operator that writes a SinglePSDPercept to a stream.
* @param stream The stream to write on.
* @param psdPercept The PSDPercept object.
* @return The stream.
*/ 
Out& operator<<(Out& stream, const SinglePSDPercept& psdPercept);


#endif //__PSDPercept_h_

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