Processes/CMD/PackageCognitionMotion.h

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/**
* @file PackageCognitionMotion.h
*
* Definition of class PackageCognitionMotion.
*
* @author Matthias Jüngel
*/

#ifndef __PackageCognitionMotion_h_
#define __PackageCognitionMotion_h_

#include "Representations/Perception/LandmarksPercept.h"
#include "Representations/Cognition/LandmarksState.h"
#include "Representations/Cognition/RobotPose.h"
#include "Representations/Cognition/BallModel.h"
#include "Representations/Cognition/PlayerPoseCollection.h"
#include "Representations/Cognition/ObstaclesModel.h"
#include "Representations/Cognition/RobotState.h"
#include "Representations/Motion/MotionRequest.h"
#include "Representations/Motion/HeadControlMode.h"
#include "Representations/Motion/LEDRequest.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/Sound/SoundRequest.h"
#include "Tools/Player.h"

#include "Representations/RoboCup/GameControlData.h"

#include "Modules/WalkingEngine/InvKinWalkingParameterSets.h"
#include "Modules/WalkingEngine/GT2004ParameterSet.h"
//****for GT2005WalkingEngine****
#include "Modules/WalkingEngine/GT2005Parameters.h"
#include "Tools/Debugging/Watchdog.h"

/**
* @class PackageCognitionMotion
*
* Contains all data that are sent from the Cognition process to the Motion process
* in the CMD process layout.
*
* @author Matthias Jüngel
*/
class PackageCognitionMotion
{
public:
  /** The LandmarksPercept */
  LandmarksPercept landmarksPercept;

  /** The seen landmarks */
  LandmarksState landmarksState;

  /** The robots position and orientation */
  RobotPose robotPose;
  
  /** The position and the speed of the ball */
  BallModel ballModel;
  
  /** The positions of the own and opponent players */
  PlayerPoseCollection playerPoseCollection;
  
  /** The positions of the obstacles */
  ObstaclesModel obstaclesModel;

  /** Pressed switches and fall downs */
  RobotState robotState;
  
  /** Motions requested by the behavior */
  MotionRequest motionRequest;

  /** The head control mode */
  HeadControlMode headControlMode;
  
  /** The ledRequest */
  LEDRequest ledRequest;
  
  /** The SoundRequest */
  SoundRequest soundRequest;

  /** An instance of the current player object */
  Player::teamColor teamColor;

  /** The data of the game controller */
  GameControlData gameControlData;

  /** walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior */
  InvKinWalkingParameters invKinWalkingParameters;
  GT2004Parameters gt2004WalkingParameters;
  unsigned long walkParameterTimeStamp;

  /** The status of the WLan connection (one bit for every dog) */
  int wLanStatus;
  
  /** The time when the package was sent */
  unsigned long timeStamp;

  //****for GT2005WalkingEngine****
  GTWalkParametersIndividual gt2005Parameters;

  Watchdog* watchdog;

  /** Constructor */
  PackageCognitionMotion();
};

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

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


#endif //__PackageCognitionMotion_h_

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