Modules/SelfLocator/SlamSelfLocator/SlamSampleTemplateGenerator.h

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#ifndef __SlamSampleTemplateGenerator_h_
#define __SlamSampleTemplateGenerator_h_

#include "Representations/Perception/LandmarksPercept.h"
#include "Tools/Math/Pose2D.h"
#include "Tools/Field.h"
#include "../LinesTables2004.h"

#include "SlamSelfLocatorSample.h"

// remove most of the parameters of generateTemplate by adding addXXX Mehtods to
// keep datastructures inside this class updated

/**
* A Class to encapsulate the template geneation feature of the gt04 localizer
*/
class SlamSampleTemplateGenerator : LinesTables2004
{
public:
  /**
  * Constructor
  */
  SlamSampleTemplateGenerator();
  
  /**
  * this method returns a generated template
  */
  SlamSelfLocatorSample getTemplate();

  /**
  * this method generates new sample templates
  */
  void generateTemplates(const LandmarksPercept& landmarksPercept, 
               const LinesPercept& linesPercept,
                           const Pose2D& odometry, 
               int   numberOfPerceptTypes, /* number of different percept types in current percepts*/
               const LinesPercept::LineType types[LinesPercept::numberOfLineTypes],
               bool useLandmarks = false);

  int getNumberOfTemplates();


private:
  enum{
    TEMPLATES_MAX = 100,        /**< maximum number of samples - should be the same as max number of samples in locator */
    FLAGS_MAX = 3               /**< maximum number of flags stored in a buffer */
  };

  Flag flags[FLAGS_MAX];              /**< A buffer for previously seen flags. */

  int numberOfTemplates,              /**< The number of templates generated. */
      numberOfFlags,
      nextTemplate;               /**< The next template delivered. */
  int randomFactor;               /**< A factor that is increased if more templates are required. */
  Pose2D templates[TEMPLATES_MAX];        /**< Templates for poses replacing bad samples. */

  bool getBearing(const LandmarksPercept& landmarksPercept,int i,
          Vector2<double>& mark, double& dir,double& dist);

  int poseFromBearingsAndDistance( double dir0,double dir1,double dist,
                  const Vector2<double>& mark0,
                  const Vector2<double>& mark1,
                  const Vector2<double>& cameraOffset,
                  Pose2D& resultingPose1,
                  Pose2D& resultingPose2);

  bool poseFromBearings(double dir0,double dir1,double dir2,
            const Vector2<double>& mark0,
            const Vector2<double>& mark1,
            const Vector2<double>& mark2,
            const Vector2<double>& cameraOffset,
            Pose2D& resultingPose);

  void addFlag(const Flag& flag);
};
#endif

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