Representations/Cognition/RobotState.cpp

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/**
 * @file RobotState.cpp
 *
 * Implementation of class RobotState.
 */

#include "RobotState.h"

RobotState::RobotState()
{
  state = undefined;
  
  collisionFrontLeft = false;
  collisionFrontRight = false;
  collisionHindLeft = false;
  collisionHindRight = false;
  collisionHead = false;
  collisionAggregate = false;
  odometryDisturbance = 0;

  somethingInFrontOfChest = false;
  timeWhenSomethingWasInFrontOfChestLast = 0;

  consecutiveCollisionTimeFrontLeft = 0;
  consecutiveCollisionTimeFrontRight = 0;
  consecutiveCollisionTimeHindLeft = 0;
  consecutiveCollisionTimeHindRight = 0;
  consecutiveCollisionTimeHead = 0;
  consecutiveCollisionTimeAggregate = 0;
  
  collisionSide = 0;
  
  acceleration = Vector3<double>(0,0,0);
}

RobotState::~RobotState()
{
}

void RobotState::operator=(const RobotState& other)
{
  state = other.state;
}

In& operator>>(In& stream,RobotState& robotState)
{
  stream >> robotState.frameNumber;
  stream.read(&robotState,sizeof(RobotState));
  return stream;
}

Out& operator<<(Out& stream, const RobotState& robotState)
{
  stream << robotState.frameNumber;
  stream.write(&robotState,sizeof(RobotState));
  return stream;
}

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