Modules/SpecialActions/SpecialActions.h

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/**
* @file SpecialActions.h
* 
* This file contains a generic class for SpecialActions.
*/

#ifndef __SpecialActions_h_
#define __SpecialActions_h_

#include "Tools/Module/Module.h"

#include "Representations/Motion/JointData.h"
#include "Representations/Motion/PIDData.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/Motion/MotionInfo.h"

/** 
* @class SpecialActionsInterfaces
*
* Interfaces of the SpecialAction module.
*/
class SpecialActionsInterfaces
{
public:
  /** Constructor */
  SpecialActionsInterfaces(
    const MotionRequest& motionRequest,
    MotionRequest::MotionID& lastMotionType,
    PIDData& pidData,
    OdometryData& odometryData,
    MotionInfo& motionInfo)
    : motionRequest(motionRequest),
    lastMotionType(lastMotionType),
    lastWalkType(lastWalkType),
    pidData(pidData),
    odometryData(odometryData),
    motionInfo(motionInfo)
  {}
  
protected:
  /** The current motion request */
  const MotionRequest& motionRequest;
  
  /** The motion type of the previous frame */
  MotionRequest::MotionID& lastMotionType;
  
  /** The walk type of the previous frame */
  WalkRequest::WalkType& lastWalkType;

  /** The current PID servo gains */
  PIDData& pidData;
    
  /** Has to be incremented by the walking engine */
  OdometryData& odometryData;
  
  /** The neck height and the body tilt to be estimated by the walking engine */
  MotionInfo& motionInfo;
};

/**
* A generic class for SpecialActions.
*
* It generates JointData and OdometryData according to current MotionRequest
* executing special actions.
*/
class SpecialActions : public Module, public SpecialActionsInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the SpecialActions module.
  */
  SpecialActions(const SpecialActionsInterfaces& interfaces)
    : SpecialActionsInterfaces(interfaces)
  {}
  
  /**
  * Executes the requested special action
  * @param specialActionRequest The special action to be executed
  * @param jointData stores calculated frame
  * @return true if next set should be calculated by SpecialActions
  *         false if change to other module can occur
  */
  virtual bool executeParameterized(SpecialActionRequest specialActionRequest, JointData& jointData) = 0;

  /*
   *  Determines wether or not a Specialaction can be executed in current phase of Walking cycle 
   *  @param specialActionID SpecialActionID for Specialaction that information for is needed
   *  @return wether the Specialaction can be executed in current Walkingcycle
   */
  virtual bool specialActionIsExecutableInWalkingCycle(int specialActionID, double walkCycle)=0;
  
  /** Destructor */
  virtual ~SpecialActions() {}
  
private:
  /** That function is not used but has to be implemented */
  virtual void execute() {};
};

#endif //__SpecialActions_h_

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