Representations/Perception/PlayersPercept.h

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/**
 * @file PlayersPercept.h
 * 
 * Declaration of classes PlayersPercept and SinglePlayerPercept
 * @author <A href=mailto:timlaue@informatik.uni-bremen.de>Tim Laue</A>
 */ 

#ifndef __PlayersPercept_h_
#define __PlayersPercept_h_


#include "Tools/Streams/Streamable.h"
#include "Tools/Math/Vector2.h"


/**
* This class contains some information about a single perceived robot
*/
class SinglePlayerPercept : public Streamable
{
public:
  /** Simple constructor */
  SinglePlayerPercept() : validity(0),directionOnField(0) {}

  /** offset to the robot, relative to own robot */
  Vector2<double> offsetOnField;

  /** The direction of the perceived robot*/
  double directionOnField;

  /** position of the robot in the image */
  Vector2<int> positionInImage;

  double orientation;

  /** The validity of this percept */
  double validity;

  void serialize(In* in, Out* out)
  {
    STREAM_REGISTER_BEGIN();
    STREAM(offsetOnField);
    STREAM(directionOnField);
    STREAM(positionInImage);
    STREAM(validity);
    STREAM_REGISTER_FINISH();
  }
};


/**
* This is a collection of SinglePlayerPercept for red and blue dressed robots.
*/
class PlayersPercept : public Streamable
{
public:
  /** Constants */
  enum {
    maxNumberOfRedPlayerPercepts = 13,
    maxNumberOfBluePlayerPercepts = 17,
    maxNumberOfOneRobotsPercepts = 17,
    maxNumberOfPercepts = 34
  };

  /** Constructor */
  PlayersPercept() : numberOfRedPlayers(0), numberOfBluePlayers(0), frameNumber(0) 
  {reset(0);};

  /** Initializes the percept */
  void reset(unsigned long frameNumber);

  /**
  * The function adds a red player percept.
  * @param percept The percept to add.
  */
  void addRedPlayer(const SinglePlayerPercept& percept);

  /**
  * The function adds a blue player percept.
  * @param percept The percept to add.
  */
  void addBluePlayer(const SinglePlayerPercept& percept);

  /** List of perceived red robots */
  SinglePlayerPercept redPlayers[maxNumberOfRedPlayerPercepts];

  /** List of perceived blue robots */
  SinglePlayerPercept bluePlayers[maxNumberOfBluePlayerPercepts];

  /** Number of perceived red robots */
  int numberOfRedPlayers;

  /** Number of perceived blue robots */
  int numberOfBluePlayers;

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

  void serialize(In* in, Out* out)
  {
    STREAM_REGISTER_BEGIN();
    STREAM(frameNumber);
    STREAM_DYN_ARRAY(redPlayers, numberOfRedPlayers);
    STREAM_DYN_ARRAY(bluePlayers, numberOfBluePlayers);
    STREAM_REGISTER_FINISH();
  }
};


#endif //__PlayersPercept_h_

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