Modules/SelfLocator/SelfLocator.h

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/** 
* @file SelfLocator.h
* 
* This file contains a generic class for Self-Localization.
*/

#ifndef __SelfLocator_h_
#define __SelfLocator_h_

#include "Tools/Module/Module.h"

#include "Representations/Perception/LandmarksPercept.h"
#include "Representations/Perception/LinesPercept.h"
#include "Representations/Perception/EdgesPercept.h"
#include "Representations/Perception/SpecialPercept.h"
#include "Representations/Perception/PSDPercept.h"
#include "Representations/Perception/ObstaclesPercept.h"
#include "Representations/Perception/CollisionPercept.h"
#include "Representations/Perception/CameraInfo.h"
#include "Representations/Cognition/RobotPose.h"
#include "Representations/Cognition/SampleSet.h"
#include "Representations/Cognition/GTCamWorldState.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/Perception/CameraMatrix.h"
#include "Representations/Cognition/LandmarksState.h"
#include "Representations/Cognition/RobotState.h"
#include "Representations/Cognition/RobotPoseCollection.h"
#include "Representations/RoboCup/GameControlData.h"

/**
* @class SelfLocatorInterfaces
* 
* The interfaces of the SelfLocator module.
*/
class SelfLocatorInterfaces
{
public:
  /** Constructor.*/
  SelfLocatorInterfaces(
    const LandmarksPercept& landmarksPercept,
    const LinesPercept& linesPercept,
    const EdgesPercept& edgesPercept,
    const SpecialPercept& specialPercept,
    const PSDPercept& psdPercept,
    const ObstaclesPercept& obstaclesPercept,
    const CollisionPercept& collisionPercept,
    const OdometryData& odometryData,
    const CameraMatrix& cameraMatrix,
    const RobotState& robotState,
    const GTCamWorldState& gtCamWorldState,
    const GameControlData& gameControlData,
    RobotPose& robotPose,
    SampleSetProxy<PoseSample>& selfLocatorSamples,
    LandmarksState& landmarksState,
    RobotPoseCollection& robotPoseCollection)
    : landmarksPercept(landmarksPercept),
    linesPercept(linesPercept),
    edgesPercept(edgesPercept),
    specialPercept(specialPercept),
    psdPercept(psdPercept),
    obstaclesPercept(obstaclesPercept),
    collisionPercept(collisionPercept),
    odometryData(odometryData),
    cameraMatrix(cameraMatrix),
    robotState(robotState),
    gtCamWorldState(gtCamWorldState),
    gameControlData(gameControlData),
    robotPose(robotPose),
    selfLocatorSamples(selfLocatorSamples),
    landmarksState(landmarksState),
    robotPoseCollection(robotPoseCollection)
  {}

protected:
  /** The landmarks detected in the last image */
  const LandmarksPercept& landmarksPercept;
  
  /** The lines detected in the last image */
  const LinesPercept& linesPercept;
  
  /** The edges detected in the last image */
  const EdgesPercept& edgesPercept;
  
  /** The special percepts detected in the last image */
  const SpecialPercept& specialPercept;
  
  /** The psd percepts detected with the PSD sensor */
  const PSDPercept& psdPercept;
  
  /** The obstables percept detected in the last image/with the PSD sensor */
  const ObstaclesPercept& obstaclesPercept;

  /** Currently detected collisions */
  const CollisionPercept& collisionPercept;

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

  /** The camera matrix describing the camera's position */
  const CameraMatrix& cameraMatrix;
  
  /** The robot state */
  const RobotState& robotState;

  /** The worldstate generated by the GTCam */
  const GTCamWorldState& gtCamWorldState;

  /** Messages that are sent by the referee */ 
  const GameControlData& gameControlData;

  /** The robots position to be generated */
  RobotPose& robotPose;

  /** The sample set proxy linked to the sample set of the active locator */
  SampleSetProxy<PoseSample>& selfLocatorSamples;

  /** the currently seen landmarks */
  LandmarksState& landmarksState;

  /** the collection of candidate poses, set by the self locator */
  RobotPoseCollection& robotPoseCollection;


};

/**
* @class SelfLocator 
*
* The Base class for self locators
*/
class SelfLocator : public Module, public SelfLocatorInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the SelfLocator module.
  */
  SelfLocator(const SelfLocatorInterfaces& interfaces)
    : SelfLocatorInterfaces(interfaces)
  {}
  
  /** Destructor */
  virtual ~SelfLocator() {}
};

#endif //__SelfLocator_h_

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