Representations/Perception/SpecialPercept.h

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/**
* @file SpecialPercept.h
*
* Declaration of class SpecialPercept
*
* @author <A href=mailto:juengel@informatik.hu-berlin.de>Matthias Juengel</A>, <A href=mailto:brunn@sim.tu-darmstadt.de>Ronnie Brunn</A>
*/ 

#ifndef __SpecialPercept_h_
#define __SpecialPercept_h_


#include "Tools/Streams/InOut.h"
#include "Tools/Math/Pose2D.h"
#include "Tools/Math/Vector2.h"
#include "Tools/Math/Geometry.h"
#include "Tools/ColorClasses.h"



class SpecialLandmark
{
public:
  colorClass sectors[8];
  Vector2<int> center;
  Vector2<int> size;
  Vector2<double> angles;
};

/** A class that contains a certain bitePoint at the open challenge bridge
  * @author <A href=mailto:jochen@kerdels.de>Jochen Kerdels</A>
  */
class BitePoint
{
  public:
    /** Constructor */
    BitePoint();

    /** The different bitePoints */
    enum Position
    {
      none = -1,
      frontleft = 0,
      frontright,
      behindleft,
      behindright,
      master,
      numOfPositions
    };

    /** postion of the bitePoint at the oc bridge */
    Position position;

    /** relative angle to the bitePoint */
    double angleTo;
    /** relative  distance to the bitePoint */
    double distanceTo;
    /** the relative position of the bitePoint */
    Vector2<double> relPos;
    /** the preciseShift to either left or right
      * while in front of the bytePoint
      */
    double preciseShift;

    /** time when the bitePoint was last seen by the own camera */
    unsigned long timeWhenLastSeen;

    /** method to add a new percept */
    void addPercept(double aAngleTo, double aDistanceTo, double aPreciseShift);

    /** indicates fresh-data */
    bool fresh;

    /** last odometry-data */
    Pose2D lastOdometry;

};

/**
 * Streaming operator that reads a BitePoint from a stream.
 * @param stream The stream from which is read.
 * @param bitePoint The BitePoint object.
 * @return The stream.
 */ 
In& operator>>(In& stream,BitePoint& bitePoint);

/**
 * Streaming operator that writes a BitePoint to a stream.
 * @param stream The stream to write on.
 * @param bitePoint The BitePoint object.
 * @return The stream.
*/ 
Out& operator<<(Out& stream, const BitePoint& bitePoint);




/** A class that contains data of the bridge for the openchallenge
  * @author <A href=mailto:jochen@kerdels.de>Jochen Kerdels</A>
  */
class OCBridge
{
  public:
    /** Constructor */
    OCBridge();

    /** The different Sides of the bridge */
    enum Side
    {
      none = 0,
      left,
      right,
      numOfSides
    };

    /** side of the bridge actually last seen by the camera */
    Side lastSeenSide;

    /** relative angle to the bridge (middle of the sidemark) */
    double angleTo;
    /** relative  distance to the bridge (middle of the sidemark) */
    double distanceTo;
    /** the relative position of the bridge (middle of the sidemark) */
    Vector2<double> relPos;

    /** time when the bridge was last seen by the own camera */
    unsigned long timeWhenLastSeen;

    /** the bitePoints of the bridge */
    BitePoint bitePoint[BitePoint::numOfPositions];

    /** method to add a new percept */
    void addPercept(double aAngleTo, double aDistanceTo);

    /** indicates fresh-data */
    bool fresh;

    /** last odometry-data */
    Pose2D lastOdometry;
};

/**
 * Streaming operator that reads a OCBridge from a stream.
 * @param stream The stream from which is read.
 * @param ocBridge The OCBridge object.
 * @return The stream.
 */ 
In& operator>>(In& stream,OCBridge& ocBridge);

/**
 * Streaming operator that writes a OCBridge to a stream.
 * @param stream The stream to write on.
 * @param ocBridge The OCBridge object.
 * @return The stream.
*/ 
Out& operator<<(Out& stream, const OCBridge& ocBridge);


/** A class that contains data of the bridge's red line for the open challenge
  */
class OCRedLine
{
  public:
    /** Constructor */
    OCRedLine();

  /** flag to know if red Line has been seen or not */
  bool seen;

    /** Startpoint and endpont of red line 
    The startpoint is nearer to the robot e.g. on the bottom of the image
  */
  Vector2<int> lineStart;
  Vector2<int> lineEnd;
  Vector2<int> pointStart;
  Vector2<int> pointEnd;
  int angleInImage; // angle of red line in image. 0 is exactly vertical.
  unsigned long timeWhenLastSeen; /** time when the bridge was last seen by the own camera */


    /** method to add a new percept */
  void addPercept(Vector2<int> lineStart, Vector2<int> lineEnd, Vector2<int> pointStart,Vector2<int> pointEnd,int angleInImage);
};

/**
 * Streaming operator that reads a red line from a stream.
 * @param stream The stream from which is read.
 * @param ocRedLine the ocRedLine object.
 * @return The stream.
 */ 
In& operator>>(In& stream,OCRedLine& ocRedLine);

/**
 * Streaming operator that writes a red line to a stream.
 * @param stream The stream to write on.
 * @param ocRedLine The ocRedLine object.
 * @return The stream.
*/ 
Out& operator<<(Out& stream, const OCRedLine& ocRedLine);


/** A class that contains a certain specialPercept
  * @author <A href=mailto:juengel@informatik.hu-berlin.de>Matthias Juengel</A>
  * @author <A href=mailto:loetzsch@informatik.hu-berlin.de>Martin Lötzsch</A>
  */
class SpecialPercept
{
  public:
    /** Constructor */
    SpecialPercept();
    ~SpecialPercept();

    /** Reset special percept. */
    void reset(unsigned long frameNum=0);

    /** The different specialPercept types*/
    enum Type
    {
      motionDetection,
      none,
      checkerboard,
      barCode,
      autoShutter,
    challengeOrientation,
    openChallengeBridge,
    openChallengeRedLine,
      imageBrightness
    };

    /** The type of the specialPercept.*/
    Type type;

    /** test values (motion detection) */
    double pan, tilt;
    Vector2<long> mostMovement, leastMovement;

    /** values (checkerboard detection) */
    Pose2D checkerPose;
    unsigned long frameNumber;

    /** An id filled by the barCodeReader */
    int barCodeId;

    /** Orientation of the robot in the "Almost-Slam-Challenge" **/
    double orientation;
    /** Some other stuff for the "Almost-Slam-Challenge" **/
    void *slamData;
    /** angle of pink Flags seen relative to robot **/ 
#define MAXSEENFLAGS 100
#define MAXLEARNFLAGS 100
    double angleOfPinkFlags[MAXSEENFLAGS];
    int    countAngleOfPinkFlags;

    /** values for open challenge bridge detection */
    OCBridge ocBridge;

    /** for red line detection */
    OCRedLine ocRedLine;

    /** indicates if Shutter was selected */
    bool shutterSelected;
    
    SpecialLandmark specialLandmarks[6];
    int numOfSpecialLandmarks;

    /** estimated overall brightness of the image (for time sync with remote cam) */
    unsigned char estimatedImageBrightness;
};

/**
 * Streaming operator that reads a SpecialPercept from a stream.
 * @param stream The stream from which is read.
 * @param specialPercept The SpecialPercept object.
 * @return The stream.
 */ 
In& operator>>(In& stream,SpecialPercept& specialPercept);

/**
 * Streaming operator that writes a SpecialPercept to a stream.
 * @param stream The stream to write on.
 * @param specialPercept The SpecialPercept object.
 * @return The stream.
*/ 
Out& operator<<(Out& stream, const SpecialPercept& specialPercept);

#endif //__SpecialPercept_h_

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