Modules/SensorBehaviorControl/SensorBehaviorControl.h

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/**
* @file SensorBehaviorControl.h
* This file contains a generic class for Modules which generate
* motionRequests by sensorData.
* 
* @author <a href="mailto:juengel@informatik.hu-berlin.de">Matthias Jüngel</a>
*/

#ifndef __SensorBehaviorControl_h_
#define __SensorBehaviorControl_h_

#include "Tools/Module/Module.h"

#include "Representations/Perception/Image.h"
#include "Representations/Perception/SensorDataBuffer.h"
#include "Representations/Perception/CameraMatrix.h"
#include "Representations/Perception/ColorTable.h"
#include "Representations/Perception/ColorTable64.h"
#include "Representations/Sound/SoundRequest.h"
#include "Representations/Motion/MotionRequest.h"
#include "Representations/Motion/LEDRequest.h"
#include "Representations/Motion/HeadControlMode.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/Cognition/RobotState.h"
#include "Representations/WLan/TeamMessageCollection.h"
#include "Representations/JoystickData.h"

/**
* @class SensorBehaviorControlInterfaces
* 
* The interfaces of the SensorBehaviorControl module.
*/
class SensorBehaviorControlInterfaces
{
public:
  /** Constructor.*/
  SensorBehaviorControlInterfaces(
    const Image& image,
    const SensorDataBuffer& sensorDataBuffer,
    const CameraMatrix& cameraMatrix,
    const ColorTable& colorTable,
    const OdometryData& odometryData,
    const RobotState& robotState,
    const JoystickData& joystickData,
    const TeamMessageCollection& teamMessageCollection,
    SoundRequest& soundRequest,
    MotionRequest& motionRequest,
    LEDRequest& ledRequest,
    HeadControlMode& headControlMode
    )
    : 
    image(image),
    sensorDataBuffer(sensorDataBuffer),
    cameraMatrix(cameraMatrix),
    colorTable(colorTable),
    odometryData(odometryData),
    robotState(robotState),
    joystickData(joystickData),
    teamMessageCollection(teamMessageCollection),
    soundRequest(soundRequest),
    motionRequest(motionRequest),
    ledRequest(ledRequest),
    headControlMode(headControlMode)
  {}
  
  /**  */
  const Image& image;
  
  /**  */
  const SensorDataBuffer& sensorDataBuffer;

  /**  */
  const CameraMatrix& cameraMatrix;

  /** The color table ptr */ 
  const ColorTable& colorTable;
  
  /** The odometry that was estimated by the motion modules */
  const OdometryData& odometryData;

  /** */
  const RobotState& robotState;

  /**  */
  SoundRequest& soundRequest;

  /**  */
  MotionRequest& motionRequest;
  
  /**  */
  LEDRequest& ledRequest;
  
  /**  */
  HeadControlMode& headControlMode;

  /** Data produced by an extern sensor called joystick */
  const JoystickData& joystickData;

  /** Incoming team messages from other robots */ 
  const TeamMessageCollection& teamMessageCollection;
      
};

/**
* A generic class for Modules which generate
* motionRequests by sensorData.
* 
* @author <a href="mailto:juengel@informatik.hu-berlin.de">Matthias Jüngel</a>
*/
class SensorBehaviorControl : public Module, public SensorBehaviorControlInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the SensorBehaviorControl module.
  */
  SensorBehaviorControl(const SensorBehaviorControlInterfaces& interfaces)
    : SensorBehaviorControlInterfaces(interfaces)
  {}
  
  /** Destructor */
  virtual ~SensorBehaviorControl() {}
};

#endif //__SensorBehaviorControl_h_

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