Processes/CMD/PackageMotionCognition.h

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/**
* @file PackageMotionCognition.h
*
* Definition of class PackageMotionCognition.
*
* @author Martin Lötzsch
*/

#ifndef __PackageMotionCognition_h_
#define __PackageMotionCognition_h_

#include "Representations/Motion/MotionInfo.h"
//****for GT2005WalkingEngine****
#include "Modules/WalkingEngine/GT2005DebugData.h"

/**
* @class PackageMotionCognition
*
* Contains all data that are sent from the Motion process to the Cognition process
* in the CMD process layout.
*
* @author Martin Lötzsch
*/
class PackageMotionCognition
{
public:
  /** The time when the package was sent */
  unsigned long timeStamp;

  /** the MotionRequest that is currently executed be the MotionControl */
  MotionInfo motionInfo;

  //****for GT2005WalkingEngine****
  GT2005DebugData gt2005DebugData;
};

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

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


#endif //__PackageMotionCognition_h_

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