Modules/SensorDataProcessor/SensorDataProcessor.h

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/**
* @file SensorDataProcessor.h
*
* Declaration of abstract class SensorDataProcessor.
*
* @author Matthias Juengel
* @author Martin Lötzsch
*/

#ifndef __SensorDataProcessor_h_
#define __SensorDataProcessor_h_

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

#include "Representations/Perception/CameraMatrix.h"
#include "Representations/Perception/SensorDataBuffer.h"
#include "Representations/Perception/BodyPercept.h"
#include "Representations/Perception/BodyPosture.h"
#include "Representations/Perception/PSDPercept.h"
#include "Representations/Motion/MotionInfo.h"

/** 
* @class SensorDataProcessorInterfaces
* 
* Interfaces of the SensorDataProcessor module.
*/
class SensorDataProcessorInterfaces
{
public:
  /** Constructor */
  SensorDataProcessorInterfaces(
    const SensorDataBuffer& sensorDataBuffer,
    const unsigned long& imageFrameNumber,
    const MotionInfo& motionInfo,
    BodyPercept& bodyPercept,
    BodyPosture& bodyPosture,
    CameraMatrix& cameraMatrix,
    PSDPercept& psdPercept) 
    : sensorDataBuffer(sensorDataBuffer),
    imageFrameNumber(imageFrameNumber),
    motionInfo(motionInfo),
    bodyPercept(bodyPercept),
    bodyPosture(bodyPosture),
    cameraMatrix(cameraMatrix),
    psdPercept(psdPercept)
  {}

protected:
  /** The SensorDataBuffer to be processed. */
  const SensorDataBuffer& sensorDataBuffer;

  /** The frame number of the current image */
  const unsigned long& imageFrameNumber;

  /** The motion info last received from Motion */
  const MotionInfo& motionInfo;

  /** The BodyPercept to be calculated */
  BodyPercept& bodyPercept;

  /** The BodyPosture to be calculated */
  BodyPosture& bodyPosture;

  /** The offset and the rotation of the camera to be calculated */
  CameraMatrix& cameraMatrix;

  /** A spot relative to the robot that was detected by the PSD sensor to be calculated */
  PSDPercept& psdPercept;
};

/**
* @class SensorDataProcessor
*
* An abstract class that defines a processor for raw sensor data.
*/
class SensorDataProcessor : public Module, public SensorDataProcessorInterfaces, public RobotDimensions
{
public:
/*
* Constructor.
* @param interfaces The paramters of the ImageProcessor module.
  */
  SensorDataProcessor(const SensorDataProcessorInterfaces& interfaces)
    : SensorDataProcessorInterfaces(interfaces),
      RobotDimensions(getRobotConfiguration().getRobotDimensions())
  {}
  
  /** Destructor */
  virtual ~SensorDataProcessor() {}
};

#endif // __SensorDataProcessor_h_

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