Modules/RobotStateDetector/RobotStateDetector.h

Go to the documentation of this file.

/**
* @file RobotStateDetector.h
* 
* This file contains a generic class for RobotStateDetector.
*/

#ifndef __RobotStateDetector_h_
#define __RobotStateDetector_h_

#include "Tools/Module/Module.h"
#include "Tools/RobotConfiguration.h"

#include "Representations/Perception/BodyPercept.h"
#include "Representations/Perception/CollisionPercept.h"
#include "Representations/Cognition/RobotState.h"


/**
* @class RobotStateDetectorInterfaces
* 
* The interfaces of the RobotStateDetector module.
*/
class RobotStateDetectorInterfaces
{
public:
  /** Constructor.*/
  RobotStateDetectorInterfaces(
    const BodyPercept& bodyPercept,
    const CollisionPercept& collisionPercept,
    RobotState& robotState
    )
    : 
    bodyPercept(bodyPercept),
    collisionPercept(collisionPercept),
    robotState(robotState)
  {}
  
  /** The BodyPercept*/
  const BodyPercept& bodyPercept;
  
  /** Detected collisions for each joint */
  const CollisionPercept& collisionPercept;

  /** The RobotState*/
  RobotState& robotState;
};

/**
* @class RobotStateDetector 
*
* The Base class for robot state detection
*
* Robot state detectors detect button messages and whether the robot is crashed.
*/
class RobotStateDetector : public Module, public RobotStateDetectorInterfaces, public RobotDimensions
{
public:
/*
* Constructor.
* @param interfaces The paramters of the RobotStateDetector module.
  */
  RobotStateDetector(const RobotStateDetectorInterfaces& interfaces)
    : RobotStateDetectorInterfaces(interfaces),
      RobotDimensions(getRobotConfiguration().getRobotDimensions())
  {}
  
  /** Destructor */
  virtual ~RobotStateDetector() {}
};

#endif //__RobotStateDetector_h_

---