Modules/SelfLocator/SlamSelfLocator/SlamLineCrossingsTable.h

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#ifndef SlamLineCrossingsTable_h
#define SlamLineCrossingsTable_h


#include "Tools/Boundary.h"
#include "Tools/FieldDimensions.h"
#include "Tools/Debugging/DebugDrawings.h"
#include "Tools/Math/Pose2D.h"


class SlamLineCrossingsTable
{
public:
  enum CrossingType{
    lineCrossing,
    middleCircle
  };

  enum CrossingClass{
    unknownCrossing,
    virtualCrossing,
    lCrossing,
    tCrossing,
    falseCrossing
  };

  static int NO_POINT_DISTANCE;

  SlamLineCrossingsTable();
  Vector2<double> getClosestPoint(const Vector2<double>& point, CrossingType type);
  Vector2<double> getClassifiedClosestPoint(const Vector2<double>& point, CrossingClass crossingClass);


  enum{
    NUMBER_OF_CROSSINGS = 20,
    NUMBER_OF_CLASSIFIED_CROSSINGS = 18,
    NUMBER_OF_VIRTUAL_CROSSINGS = 4,
    NUMBER_OF_T_CROSSINGS = 6,
    NUMBER_OF_L_CROSSINGS = 8,
    NUMBER_OF_FALSE_CROSSINGS = 2
  };

  static double crossingsX[NUMBER_OF_CROSSINGS];
  static double crossingsY[NUMBER_OF_CROSSINGS];

  Vector2<double> allCrossings[NUMBER_OF_CLASSIFIED_CROSSINGS];
  Vector2<double> virtualCrossings[NUMBER_OF_VIRTUAL_CROSSINGS];
  Vector2<double> tCrossings[NUMBER_OF_T_CROSSINGS];
  Vector2<double> lCrossings[NUMBER_OF_L_CROSSINGS];
  Vector2<double> falseCrossings[NUMBER_OF_FALSE_CROSSINGS];

private:

  // private vars

  // private methods
  void initAllCrossings();
  void initVirtualCrossings();
  void initTCrossings();
  void initLCrossings();
  void initFalseCrossings();
};
#endif

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