Modules/TeamBallLocator/TeamBallLocator.h

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/**
* @file TeamBallLocator.h
* 
* Interfaces and definition of class TeamBallLocator.
*
* @author Martin Lötzsch
*/

#ifndef __TeamBallLocator_h_
#define __TeamBallLocator_h_

#include "Tools/Module/Module.h"

#include "Representations/Perception/CameraMatrix.h"
#include "Representations/Cognition/BallModel.h"
#include "Representations/Cognition/RobotPose.h"
#include "Representations/WLan/TeamMessageCollection.h"
#include "Representations/Motion/OdometryData.h"
#include "Representations/Cognition/SampleSet.h"
#include "Representations/RoboCup/GameControlData.h"
#include "Representations/Cognition/RobotPoseCollection.h"
#include "Representations/Perception/BallPercept.h"
#include "Representations/Cognition/ObstaclesModel.h"
#include "Modules/BallLocator/GT2005Particles/GT2005ParticleContainer.h"

/**
* @class TeamBallLocatorInterfaces
* 
* The interfaces of the TeamBallLocator module.
*/
class TeamBallLocatorInterfaces
{
public:
  /** Constructor.*/
  TeamBallLocatorInterfaces(
    const SeenBallState& seenBallState,
    const OdometryData& odometryData,
    const RobotPose& robotPose,
    const TeamMessageCollection& teamMessageCollection,
    const RobotPoseCollection& robotPoseCollection,
    CommunicatedBallState& communicatedBallState,
    GT2005ParticleContainer& ballLocatorSamples,
    GameControlData& gameControlData,
    const BallPercept& ballPercept,
    const CameraMatrix& cameraMatrix,
    const ObstaclesModel& obstaclesModel
    )
  : seenBallState(seenBallState),
    odometryData(odometryData),
    robotPose(robotPose),
    teamMessageCollection(teamMessageCollection),
    robotPoseCollection(robotPoseCollection),
    communicatedBallState(communicatedBallState),
    ballLocatorSamples(ballLocatorSamples),
    gameControlData(gameControlData),
    ballPercept(ballPercept),
    cameraMatrix(cameraMatrix),
    obstaclesModel(obstaclesModel)
  {}
  
  /** The position of the seen ball */
  const SeenBallState& seenBallState;

  /** The odometry data provided by the motion modules */
  const OdometryData& odometryData;
  
  /** The robots position that was calculated last */
  const RobotPose& robotPose;
  
  /** Incoming team messages from other robots */ 
  const TeamMessageCollection& teamMessageCollection;

  /** the collection of candidate robot poses */
  const RobotPoseCollection& robotPoseCollection;

  /** The communicated ball position to be calculated by the module */
  CommunicatedBallState& communicatedBallState;

  /** The samples of the ball locator */
   GT2005ParticleContainer& ballLocatorSamples;

   /** The GameControlData (to know if the robot is penalized for example) */
   GameControlData& gameControlData;

   /** The ball percept of the image processor. */
   const BallPercept& ballPercept;

   /** The offset and the rotation of the camera */
   const CameraMatrix& cameraMatrix;

   /** The obstacles model */
   const ObstaclesModel& obstaclesModel;
};

/**
* @class TeamBallLocator 
*
* The Base class for team ball locators
*
* It's task is to integrate ball measurements made by teammates.
*/
class TeamBallLocator : public Module, public TeamBallLocatorInterfaces
{
public:
/*
* Constructor.
* @param interfaces The paramters of the TeamBallLocator module.
  */
  TeamBallLocator(const TeamBallLocatorInterfaces& interfaces)
    : TeamBallLocatorInterfaces(interfaces)
  {}
  
  /** Destructor */
  virtual ~TeamBallLocator() {}
};

#endif //__TeamBallLocator_h_

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