Modules/WalkingEngine/WalkingEngine.h

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/**
* @file WalkingEngine.h
* 
* Definition of class WalkingEngine
*/

#ifndef __WalkingEngine_h_
#define __WalkingEngine_h_

#include "Tools/Module/Module.h"
#include "Tools/RobotConfiguration.h"

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

#include "InvKinWalkingParameters.h"
#include "GT2004ParameterSet.h"
//****for GT2005WalkingEngine****
#include "GT2005Parameters.h"
#include "GT2005DebugData.h"

/**
* @class WalkingEngineInterfaces
*
* The interfaces of the module WalkingEngine
*/
class WalkingEngineInterfaces
{
public:
  /** Constructor */
  WalkingEngineInterfaces(
    const SensorDataBuffer& sensorDataBuffer,
    const InvKinWalkingParameters& invKinWalkingParameters,
    const GT2004Parameters& gt2004Parameters,
    const unsigned long& walkParameterTimeStamp,
    const bool& receivedNewSensorData,
    const MotionRequest::MotionID& lastMotionType,
    PIDData& pidData,
    OdometryData& odometryData,
    MotionInfo& motionInfo,
  //****for GT2005WalkingEngine****
  GTWalkParametersIndividual& gt2005Parameters,
  GT2005DebugData& gt2005DebugData)
    : sensorDataBuffer(sensorDataBuffer),
    invKinWalkingParameters(invKinWalkingParameters),
    gt2004Parameters(gt2004Parameters),
    walkParameterTimeStamp(walkParameterTimeStamp),
    receivedNewSensorData(receivedNewSensorData),
    lastMotionType(lastMotionType),
    pidData(pidData),
    odometryData(odometryData),
    motionInfo(motionInfo),
  //****for GT2005WalkingEngine****
  gt2005Parameters(gt2005Parameters),
  gt2005DebugData(gt2005DebugData)
  {}

protected:
  /** The sensor data buffer containing all joint angles and others */
  const SensorDataBuffer& sensorDataBuffer;
  
  /** walking parameter sets to be used by the WalkingEngine, eg calculated by evolution behavior */
  const InvKinWalkingParameters& invKinWalkingParameters;
  const GT2004Parameters& gt2004Parameters;
  const unsigned long& walkParameterTimeStamp;

  /** Indicates that the Motion Process received a new SensorDataBuffer */
  const bool& receivedNewSensorData;

  /** The motion type of the previous frame */
  const MotionRequest::MotionID& lastMotionType;
  
  /** 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;

  //****for GT2005WalkingEngine****
  GTWalkParametersIndividual& gt2005Parameters;
  GT2005DebugData& gt2005DebugData;
};

/**
* A generic class for walking engine modules.
*
* It generates JointData and OdometryData according to current MotionRequest
* executing walking type motions.
*/
class WalkingEngine : public Module, protected WalkingEngineInterfaces, protected RobotDimensions
{
public:
/*
* Constructor.
* @param interfaces The paramters of the WalkingEngine module.
  */
  WalkingEngine(const WalkingEngineInterfaces& interfaces)
    : WalkingEngineInterfaces(interfaces),
      RobotDimensions(getRobotConfiguration().getRobotDimensions())
  {}
  
  /**
  * Calculates the next joint data set
  * @param jointData stores calculated frame
  * @param walkRequest The current motion request 
  * @param positionInWalkingCycle A request position for the walkcycle.
  * @return true if next set should be calculated by WalkingEngine
  *         false if change to other module can occur
  */
  virtual bool executeParameterized(JointData& jointData,
        const WalkRequest& walkRequest, double positionInWalkingCycle) = 0;
  
  /** Destructor */
  virtual ~WalkingEngine() {}
  
private:
  /** That function is not used but has to be implemented */
  virtual void execute() {};
};

#endif //__WalkingEngine_h_

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