Representations/Perception/SlamPercept.h

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/**
 * @file SlamPercept.h
 *
 * Declaration of class SlamPercept.
 *
 * @author Tobias Wegner
 */

#include "Tools/Math/Vector2.h"
#include "Tools/Math/Geometry.h"
#include "Modules/ImageProcessor/SlamImageProcessor/SlamFlagLocator.h"


struct ImageCharacteristic
{
  double averageY;
  double averageU;
  double averageV;

  double filteredAverageY;
  double filteredAverageU;
  double filteredAverageV;

  int numPink;

  double angle;
};

struct CenterCircleInformation
{
  bool   centerCircleIsVisible;
  double distanceToCenterCircle;
  double directionToCenterCircle;
  double seenCenterCircleOrientation;
  double timeSinceLastSeenCenterCircle;
  unsigned long timeStampOfLastSeenCenterCircle;
};

struct WLanBearing
{
  bool  inProgress;
  bool  finished;

  bool  facingBlue;

  double direction;

  double posCenter;
  double negCenter;
};

struct GreenLocation
{
  bool    greenLocationFinished;

  bool    impAngleToMaxGreenValid;
  double  impAngleToMaxGreen;
  double  impLengthOfMaxGreen;

  bool    angleToMaxGreenValid;
  double  angleToMaxGreen;
  double  lengthOfMaxGreen;

  Vector2<int>  maxGreenPointInImage;
  Vector2<int>  maxGreenPointOnField;
};

class SlamPercept
{
public:
  SlamPercept ()
  {
    centerCircleInformation.centerCircleIsVisible = false;
  };

  enum SlamState
  {
    SlamStart,
    DebugJustLearn,
    DebugJustRecognize,
    LocalizeWithFlags,
    LearnNewFlags,
    LocalizeUsingNewFlags,
    UseNewFlags,
    EvaluatePosition,
    numOfSlamStates
  };

  SlamFlagLocator flagLocator;

  mutable SlamState slamState;

  double  viewAngle; /**< The estimated viewing angle in field coords. */
  bool  viewAngleValid; /**< Tells the self locator if the view angle is valid. */

  ImageCharacteristic imageCharacteristic;

  bool  turnFinished;

  static char *getSlamStateName (SlamPercept::SlamState state)
  {
    switch (state)
    {
    case SlamStart:       return "slam-start";
    case DebugJustLearn:    return "debug-just-learn";
    case DebugJustRecognize:  return "debug-just-recognize";
    case LocalizeWithFlags:   return "localize-with-flags";
    case LearnNewFlags:     return "learn-new-flags";
    case LocalizeUsingNewFlags: return "localize-using-new-flags";
    case UseNewFlags:     return "use-new-flags";
    default:          return "unknown";
    };
  };

  CenterCircleInformation centerCircleInformation;

  GreenLocation  greenLocation;

  WLanBearing wlanBearing;

  double GPVal;

  //old stuff
    struct PositionElement 
    {
      Vector3<double> measurement;
      Vector2<double> fieldPos;
    };    

    enum SelfLocatorLearnMode
    {
      evaluatePosition,
      runWithKnownDirection
    };

    PositionElement testPoints[4];
    bool testPointsMeasured;
    SelfLocatorLearnMode slLearnMode;

    // characterization: #pink, brightest angle, darkest angle
    Vector3<double> currentMeasurement;
};

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