Modules/PlayersLocator/PlayersLocator.h

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/**
* @file PlayersLocator.h
* 
* This file contains a generic class for Players-Localization.
*/

#ifndef __PlayersLocator_h_
#define __PlayersLocator_h_

#include "Tools/Module/Module.h"

#include "Representations/Perception/PlayersPercept.h"
#include "Representations/Cognition/RobotPose.h"
#include "Representations/Cognition/BallModel.h"
#include "Representations/WLan/TeamMessageCollection.h"
#include "Representations/Cognition/PlayerPoseCollection.h"
//#include "Representations/Cognition/ObstaclesModel.h"
#include "Representations/Cognition/PassCorridorCollection.h"
#include "Representations/Cognition/PlayersModel.h"
#include "Representations/Cognition/GTCamWorldState.h" // TD (inserted)
#include "Representations/Motion/OdometryData.h"

/**
* @class PlayersLocatorInterfaces
* 
* The interfaces of the PlayersLocator module.
*/
class PlayersLocatorInterfaces
{
public:
  /** Constructor.*/
  PlayersLocatorInterfaces(
    const RobotPose& robotPose,
    const TeamMessageCollection& teamMessageCollection,
    const OdometryData& odometryData,
    const GTCamWorldState& gtCamWorldState, // TD (inserted)
    //const ObstaclesModel& obstaclesModel,
    const BallModel& ballModel,
    PlayersPercept& playersPercept,
    PlayerPoseCollection& playerPoseCollection,
    PassCorridorCollection& passCorridorCollection,
    PlayersModel& playersModel)
    : robotPose(robotPose),
    teamMessageCollection(teamMessageCollection),
    odometryData(odometryData),
    gtCamWorldState(gtCamWorldState), // TD (inserted)
    //obstaclesModel(obstaclesModel),
    ballModel(ballModel),
    playersPercept(playersPercept),
    playerPoseCollection(playerPoseCollection),
    passCorridorCollection(passCorridorCollection),
    playersModel(playersModel)
  {}

 
protected:
 
  /** The estimated position of the robot */
  const RobotPose& robotPose;
  
  /** Team messages from the other robots */ 
  const TeamMessageCollection& teamMessageCollection;

  /** The odometry data that was calculated by the motion modules */
  const OdometryData& odometryData;

  /** The obstacle model of the obstacle locator. It is used to refine the playersPercept */
  //const ObstaclesModel& obstaclesModel;

  /** The ball model of the ball locator. It is used by the particle system to propergate the players position */
  const BallModel& ballModel;

  /** The worldstate generated by the GTCam */
  const GTCamWorldState& gtCamWorldState; // TD (inserted)

  /** The player positions to be calculated */
  PlayerPoseCollection& playerPoseCollection;

  /** The availible pass corridors */
  PassCorridorCollection& passCorridorCollection;

  /** The players model which hold the informations about the opponent players */
  PlayersModel& playersModel;
  /** The detected players */
  PlayersPercept& playersPercept;

};

/**
* @class PlayersLocator 
*
* The Base class for player locators
*
* The locator for other players performs the calculation of the positions of
* the other players based on players percepts. In addition, positions of
* team mates received via the wireless network communication are integrated.
*/
class PlayersLocator : public Module, public PlayersLocatorInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the PlayersLocator module.
  */
  PlayersLocator(const PlayersLocatorInterfaces& interfaces)
    : PlayersLocatorInterfaces(interfaces)
  {}
  
  /** Destructor */
  virtual ~PlayersLocator() {}
};

#endif //__PlayersLocator_h_

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