00001 /** 00002 * @file PackageCognitionMotion.cpp 00003 * 00004 * Implementation of class PackageCognitionMotion. 00005 * 00006 * @author Matthias Jüngel 00007 */ 00008 00009 #include "PackageCognitionMotion.h" 00010 //#include <stdio.h> 00011 //#include <iostream.h> 00012 00013 PackageCognitionMotion::PackageCognitionMotion() 00014 : teamColor(getPlayer().getTeamColor()),walkParameterTimeStamp(0),wLanStatus(0),timeStamp(0) 00015 { 00016 ERS7EvolveWalkingParameters p; 00017 invKinWalkingParameters = p; 00018 gt2004WalkingParameters = p; 00019 } 00020 00021 In& operator>>(In& stream, PackageCognitionMotion& packageCognitionMotion) 00022 { 00023 int teamColor; 00024 int watchdog; 00025 stream 00026 >> packageCognitionMotion.landmarksPercept 00027 >> packageCognitionMotion.landmarksState 00028 >> packageCognitionMotion.robotPose 00029 >> packageCognitionMotion.ballModel 00030 >> packageCognitionMotion.playerPoseCollection 00031 >> packageCognitionMotion.robotState 00032 >> packageCognitionMotion.motionRequest 00033 >> packageCognitionMotion.headControlMode 00034 >> packageCognitionMotion.obstaclesModel 00035 >> packageCognitionMotion.ledRequest 00036 >> packageCognitionMotion.soundRequest 00037 >> teamColor 00038 >> packageCognitionMotion.invKinWalkingParameters 00039 >> packageCognitionMotion.gt2004WalkingParameters 00040 >> packageCognitionMotion.walkParameterTimeStamp 00041 >> packageCognitionMotion.wLanStatus 00042 >> packageCognitionMotion.timeStamp 00043 >> watchdog 00044 //****for GT2005WalkingEngine**** 00045 >> packageCognitionMotion.gt2005Parameters; 00046 stream.read(&packageCognitionMotion.gameControlData.data,sizeof(packageCognitionMotion.gameControlData.data)); 00047 stream >> packageCognitionMotion.gameControlData.timeStamp; 00048 packageCognitionMotion.teamColor = (Player::teamColor) teamColor; 00049 packageCognitionMotion.watchdog = (Watchdog*) watchdog; 00050 // std::cout << "packageCognitionMotion.gameControlData.timeStamp >> :"<<packageCognitionMotion.gameControlData.timeStamp <<"\n"; 00051 return stream; 00052 } 00053 00054 Out& operator<<(Out& stream, const PackageCognitionMotion& packageCognitionMotion) 00055 { 00056 stream 00057 << packageCognitionMotion.landmarksPercept 00058 << packageCognitionMotion.landmarksState 00059 << packageCognitionMotion.robotPose 00060 << packageCognitionMotion.ballModel 00061 << packageCognitionMotion.playerPoseCollection 00062 << packageCognitionMotion.robotState 00063 << packageCognitionMotion.motionRequest 00064 << packageCognitionMotion.headControlMode 00065 << packageCognitionMotion.obstaclesModel 00066 << packageCognitionMotion.ledRequest 00067 << packageCognitionMotion.soundRequest 00068 << (int) packageCognitionMotion.teamColor 00069 << packageCognitionMotion.invKinWalkingParameters 00070 << packageCognitionMotion.gt2004WalkingParameters 00071 << packageCognitionMotion.walkParameterTimeStamp 00072 << packageCognitionMotion.wLanStatus 00073 << packageCognitionMotion.timeStamp 00074 << (int) packageCognitionMotion.watchdog 00075 //****for GT2005WalkingEngine**** 00076 << packageCognitionMotion.gt2005Parameters; 00077 stream.write(&packageCognitionMotion.gameControlData.data,sizeof(packageCognitionMotion.gameControlData.data)); 00078 stream << packageCognitionMotion.gameControlData.timeStamp; 00079 // std::cout << "packageCognitionMotion.gameControlData.timeStamp << :"<<packageCognitionMotion.gameControlData.timeStamp << "\n"; 00080 00081 return stream; 00082 }
1.3.6