Modules/BehaviorControl/CommonXabsl2Symbols/RobotPoseSymbols.h

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/** 
* @file RobotPoseSymbols.h
*
* Declaration of class RobotPoseSymbols.
*
* @author Martin Lötzsch
*/

#ifndef __RobotPoseSymbols_h_
#define __RobotPoseSymbols_h_

#include "../BehaviorControl.h"
#include "Tools/Xabsl2/Xabsl2Engine/Xabsl2Engine.h"
#include "Tools/FieldDimensions.h"
#include "Tools/Actorics/RobotDimensions.h"

/**
* The Xabsl2 symbols that are defined in "robot-pose-symbols.xml"
*
* @author Martin Lötzsch
*/ 
class RobotPoseSymbols : public Xabsl2FunctionProvider, public BehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the BehaviorControl module.
  */
  RobotPoseSymbols(const BehaviorControlInterfaces& interfaces);
  
  /** registers the symbols at an engine */
  void registerSymbols(Xabsl2Engine& engine);
  
    /** updates the symbols */
  void update();

  //!@name Input symbols, more input symbols are actually registered than shown here (see .cpp file!)
  //!@{
  double getAngleToCenterOfField(); /*!< calculates the value for the symbol "robot-pose.best-angle-away-from-own-goal" */
  double getAngle(); /*!< A function for the symbol "robot-pose.angle" */
  double getPositionStandardDeviation();/*!< A function for the symbol "robot-pose.position-standard-deviation" */
  double getAngleToBorder(); /*!< A function for the symbol "robot-pose.angle-to-border" */
  double getDistanceToBorder(); /*!< A function for the symbol "robot-pose.distance-to-border" */
  double getDistanceToOwnGoal(); /*!< A function for the symbol "robot-pose.distance-to-own-goal" */
  double getDistanceToOwnPenaltyArea(); /*!< A function for the symbol "robot-pose.distance-to-own-penalty-area" */
  double getDistanceToOpponentGoal(); /*!< A function for the symbol "robot-pose.distance-to-opponent-goal" */
  double getDefensiveSupporterRobotPoseY(); /*!< calculates the value for the symbol "defensive-supporter.robot-pose.y" */
  double getStrikerRobotPoseY(); /*!< calculates the value for the symbol "striker.robot-pose.y" */
  double updateGoalieDefendPosition(); /*!< calculates the values for the symbols "robot-pose.goalie-defend-angle","robot-pose.goalie-defend-pos-x","robot-pose.goalie-defend-pos-y","robot-pose.goalie-defend-step-pos-x","robot-pose.goalie-defend-step-pos-y","robot-pose.goalie-defend-step-angle"*/
  double getGoalieDefendAngle(); /*!< returns the Symbol "robot-pose.goalie-defend-angle" */
  double getGoalieDefendPosY(); /*!< returns the Symbol "robot-pose.goalie-defend-pos-x" */
  double getGoalieDefendPosX(); /*!< returns the Symbol "robot-pose.goalie-defend-pos-y" */
  double getGoalieDefendStepPosX(); /*!< returns the Symbol "robot-pose.goalie-defend-step-pos-x" */
  double getGoalieDefendStepPosY(); /*!< returns the Symbol "robot-pose.goalie-defend-step-pos-y" */
  double getGoalieDefendStepAngle(); /*!< returns the Symbol "robot-pose.goalie-defend-step-angle" */
  double calculateSpeedFactorFromRobotPositionStandardDeviation(); /*!< calculates a speed between 0...maxSpeed as a function of the current distribution variance */
  double ballPosX; /*!< the Parameter "robot-pose.update-goalie-defend-position.ball-pos-x" for the decimal input function "robot-pose.update-goalie-defend-position" */
  double ballPosY; /*!< the Parameter "robot-pose.update-goalie-defend-position.ball-pos-y" for the decimal input function "robot-pose.update-goalie-defend-position" */
  void computeGoalieDefendMinPos(const double& alpha, const RobotDimensions& rD); /*!< calculates the values for the variables 'goalieDefendMinPosX','goalieDefendMinPosY','goalieDefendMinAngle' needed for the function 'updateGoalieDefendPosition'*/

  //!@}
private:
  void calculateAngles();

  /** The angle that is shown by the top white LEDs */
  enum Angles {
    angleToCenterOfField,
    goalieGoalKickAngle,
    bestAngleToOpponentGoal,
    bestAngleToOpponentGoalNoObstacles,
    angleToPointBehindOpponentGoal,
    bestAngleAwayFromOwnGoal,
    bestAngleAwayFromOwnGoalNoObstacles,
    numberOfAngles
  };
  
  Angles angleShownByLEDs;

  double angles[numberOfAngles];

  double goalieDefendAngle;
  double goalieDefendPositionX;
  double goalieDefendPositionY;
  double goalieDefendStepPosX;
  double goalieDefendStepPosY;
  double goalieDefendStepAngle;
  double goalieDefendRadiusMax;
  double goalieDefendRadiusMin;
  double goalieDefendMinPosX;
  double goalieDefendMinPosY;
  double goalieDefendRadius;
};


#endif // __RobotPoseSymbols_h_

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