Modules/WalkingEngine/WalkingEngineSelector.h

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/**
* @file WalkingEngineSelector.h
* 
* Definition of class WalkingEngineSelector
*
* @author Max Risler
*/

#ifndef __WalkingEngineSelector_h_
#define __WalkingEngineSelector_h_

#include "Tools/Module/ModuleSelector.h"

#include "InvKinWalkingParameterSets.h"
#include "GT2005WalkingEngine.h"
#include "GT2004WalkingEngine.h"

/**
* @class WalkingEngineSelector
*
* A module selector for WalkingEngine modules.
*/
class WalkingEngineSelector : public ModuleSelector, public WalkingEngine
{
public:
/**
* Constructor.
* @param handler The module handler of the process.
* @param moduleID The module id of the walking engine.
* @param interfaces The paramters of the MotionControl module.
* @param pInvKinWalkingEngine Pointer to an InvKinWalkingEngine to be used to avoid having different engines for different parameter sets.
  */
  WalkingEngineSelector(ModuleHandler &handler,
    SolutionRequest::ModuleID moduleID,
    const WalkingEngineInterfaces& interfaces,
    InvKinWalkingEngine* pInvKinWalkingEngine) 
    : ModuleSelector(moduleID),
    WalkingEngine(interfaces), pInvKinWalkingEngine(pInvKinWalkingEngine)
  {
    handler.setModuleSelector(moduleID,this);
  }
  
  
  /** 
  * Is called on start and when the selected solution changes
  * to create a specific solution.
  * @param id The id of the solution to create
  * @return The created solution or 0
  */
  virtual Module* createSolution(SolutionRequest::ModuleSolutionID id)
  {
    switch(id) {
      case SolutionRequest::gt2005WalkingEngine:
        return new GT2005WalkingEngine(*this);

      // "Real" WalkingEngine solutions
      //
      case SolutionRequest::gt2004WalkingEngine:
        return new GT2004WalkingEngine(*this);
      
      // ParamInvKinWalkingEngines
      //
      case SolutionRequest::invKinUpsideDownWalkingEngine:
        return new ParamInvKinWalkingEngine(new UpsideDownWalkingParameters, pInvKinWalkingEngine);
      
      case SolutionRequest::invKinTurnWithBallWalkingEngine: 
        return new ParamInvKinWalkingEngine(new TurnWithBallWalkingParameters, pInvKinWalkingEngine);

      case SolutionRequest::invKinTurnKickWalkingEngine: 
        return new ParamInvKinWalkingEngine(new TurnKickWalkingParameters, pInvKinWalkingEngine);

      default:
        return 0;
    }
  }
  
  /** Executes the module */
  bool executeParameterized(JointData& jointData, const WalkRequest& walkRequest, double positionInWalkingCycle)
  {
    if (selectedSolution!=0) 
    {
      return ((WalkingEngine*)selectedSolution)->executeParameterized(jointData, walkRequest, positionInWalkingCycle);
    }
    else 
    {
      //if no WE is enabled, 2do:
      jointData.data[JointData::neckTilt] = jointDataInvalidValue;
      jointData.data[JointData::headPan] = jointDataInvalidValue;
      jointData.data[JointData::headTilt] = jointDataInvalidValue;
      return false;
    }
  }
    /** Handles a message */
  virtual bool handleMessage(InMessage& message)
  {
    if (selectedSolution!=0) 
      return ((WalkingEngine*)selectedSolution)->handleMessage(message);
    else return false;
  }
  
  /** The only used InvKinWalkingEngine */
  InvKinWalkingEngine* pInvKinWalkingEngine;
};

#endif // __WalkingEngineSelector_h_

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