ObjectPositionInterface.h
00001 00002 /*************************************************************************** 00003 * ObjectPositionInterface.h - Fawkes BlackBoard Interface - ObjectPositionInterface 00004 * 00005 * Templated created: Thu Oct 12 10:49:19 2006 00006 * Copyright 2007-2008 Tim Niemueller 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #ifndef __INTERFACES_OBJECTPOSITIONINTERFACE_H_ 00025 #define __INTERFACES_OBJECTPOSITIONINTERFACE_H_ 00026 00027 #include <interface/interface.h> 00028 #include <interface/message.h> 00029 #include <interface/field_iterator.h> 00030 00031 namespace fawkes { 00032 00033 class ObjectPositionInterface : public Interface 00034 { 00035 /// @cond INTERNALS 00036 INTERFACE_MGMT_FRIENDS(ObjectPositionInterface) 00037 /// @endcond 00038 public: 00039 /* constants */ 00040 static const unsigned int TYPE_OTHER; 00041 static const unsigned int TYPE_BALL; 00042 static const unsigned int TYPE_OPPONENT; 00043 static const unsigned int TYPE_TEAMMEMBER; 00044 static const unsigned int TYPE_LINE; 00045 static const unsigned int TYPE_SELF; 00046 static const unsigned int TYPE_GOAL_BLUE; 00047 static const unsigned int TYPE_GOAL_YELLOW; 00048 static const unsigned int FLAG_NONE; 00049 static const unsigned int FLAG_HAS_WORLD; 00050 static const unsigned int FLAG_HAS_RELATIVE_CARTESIAN; 00051 static const unsigned int FLAG_HAS_RELATIVE_POLAR; 00052 static const unsigned int FLAG_HAS_EULER_ANGLES; 00053 static const unsigned int FLAG_HAS_EXTENT; 00054 static const unsigned int FLAG_HAS_VOLUME_EXTENT; 00055 static const unsigned int FLAG_HAS_CIRCULAR_EXTENT; 00056 static const unsigned int FLAG_HAS_COVARIANCES; 00057 static const unsigned int FLAG_HAS_WORLD_VELOCITY; 00058 static const unsigned int FLAG_HAS_Z_AS_ORI; 00059 static const unsigned int FLAG_IS_FIXED_OBJECT; 00060 00061 private: 00062 /** Internal data storage, do NOT modify! */ 00063 typedef struct { 00064 unsigned int object_type; /**< 00065 Object type, use constants to define 00066 */ 00067 unsigned int flags; /**< 00068 Bit-wise concatenated fields of FLAG_* constants. Denotes features that the 00069 writer of this interfaces provides. Use a bit-wise OR to concatenate multiple 00070 flags, use a bit-wise AND to check if a flag has been set. 00071 */ 00072 int visibility_history; /**< 00073 The visibilitiy history indicates the number of consecutive positive or negative 00074 sightings. If the history is negative, there have been as many negative sightings 00075 (object not visible) as the absolute value of the history. A positive value denotes 00076 as many positive sightings. 0 shall only be used during the initialisation of the 00077 interface or if the visibility history is not filled. 00078 */ 00079 float roll; /**< 00080 Roll value for the orientation of the object in space. 00081 */ 00082 float pitch; /**< 00083 Pitch value for the orientation of the object in space. 00084 */ 00085 float yaw; /**< 00086 Yaw value for the orientation of the object in space. 00087 */ 00088 float distance; /**< 00089 Distance from the robot to the object on the ground plane. The distance is given 00090 in meters. 00091 */ 00092 float bearing; /**< 00093 Angle between the robot's forward direction and the object on the ground plane. 00094 This angle is in a local 3D coordinate system to the robot and given in radians. 00095 */ 00096 float slope; /**< 00097 Angle between the robot's center position on the ground plane and the middle point 00098 of the object (e.g. this denotes the height of the object combined with the distance. 00099 The angle is given in radians. 00100 */ 00101 float dbs_covariance[9]; /**< 00102 Covariance of Distance/Yaw/Pitch values. This is a 3x3 matrix ordered line by line, 00103 first three values represent row, next tree values second row and last three values 00104 last row from left to right each. 00105 */ 00106 float world_x; /**< 00107 This is the X coordinate in the cartesian right-handed world coordinate system. 00108 This coordinate system has its origin in the center of the field, Y pointing to 00109 the opponent's goal and X pointing to the right. 00110 */ 00111 float world_y; /**< 00112 This is the Y coordinate in the cartesian right-handed world coordinate system. 00113 This coordinate system has its origin in the center of the field, Y pointing to 00114 the opponent's goal and X pointing to the right and Z pointing downwards. 00115 */ 00116 float world_z; /**< 00117 This is the Z coordinate in the cartesian right-handed world coordinate system. 00118 This coordinate system has its origin in the center of the field, Y pointing to 00119 the opponent's goal and X pointing to the right. 00120 */ 00121 float world_xyz_covariance[9]; /**< 00122 Covariance of WorldX/WorldY/WorldZ values. This is a 3x3 matrix ordered line by line, 00123 first three values represent row, next tree values second row and last three values 00124 last row from left to right each. 00125 */ 00126 float relative_x; /**< 00127 This is the X coordinate in the cartesian right-handed robot coordinate system. 00128 */ 00129 float relative_y; /**< 00130 This is the Y coordinate in the cartesian right-handed robot coordinate system. 00131 */ 00132 float relative_z; /**< 00133 This is the Z coordinate in the cartesian right-handed robot coordinate system. 00134 */ 00135 float relative_xyz_covariance[9]; /**< 00136 Covariance of relative x/y/z values. This is a 3x3 matrix ordered line by line, 00137 first three values represent row, next tree values second row and last three values 00138 last row from left to right each. 00139 */ 00140 float extent_x; /**< 00141 Extent of the seen object given in the relative x cartesian coordinate in m. 00142 */ 00143 float extent_y; /**< 00144 Extent of the seen object given in the relative y cartesian coordinate in m. 00145 */ 00146 float extent_z; /**< 00147 Extent of the seen object given in the relative z cartesian coordinate in m. 00148 */ 00149 float world_x_velocity; /**< 00150 Velocity of object in the world coordinate system in X-direction in meter per second. 00151 */ 00152 float world_y_velocity; /**< 00153 Velocity of object in the world coordinate system in Y-direction in meter per second. 00154 */ 00155 float world_z_velocity; /**< 00156 Velocity of object in the world coordinate system in Z-direction in meter per second. 00157 */ 00158 float world_xyz_velocity_covariance[9]; /**< 00159 Covariance of WorldX/WorldY/WorldZ velocity values. This is a 3x3 matrix ordered line 00160 by line, first three values represent row, next tree values second row and last three 00161 values last row from left to right each. 00162 */ 00163 float relative_x_velocity; /**< 00164 Velocity of object in the world coordinate system in X-direction in meter per second. 00165 */ 00166 float relative_y_velocity; /**< 00167 Velocity of object in the world coordinate system in Y-direction in meter per second. 00168 */ 00169 float relative_z_velocity; /**< 00170 Velocity of object in the world coordinate system in Z-direction in meter per second. 00171 */ 00172 float relative_xyz_velocity_covariance[9]; /**< 00173 Covariance of relative x/y/z velocity values. This is a 3x3 matrix ordered line 00174 by line, first three values represent row, next tree values second row and last three 00175 values last row from left to right each. 00176 */ 00177 bool visible; /**< True, if object is visible. */ 00178 bool valid; /**< True, if this position is valid. */ 00179 } ObjectPositionInterface_data_t; 00180 00181 ObjectPositionInterface_data_t *data; 00182 00183 public: 00184 /* messages */ 00185 virtual bool message_valid(const Message *message) const; 00186 private: 00187 ObjectPositionInterface(); 00188 ~ObjectPositionInterface(); 00189 00190 public: 00191 /* Methods */ 00192 unsigned int object_type() const; 00193 void set_object_type(const unsigned int new_object_type); 00194 size_t maxlenof_object_type() const; 00195 unsigned int flags() const; 00196 void set_flags(const unsigned int new_flags); 00197 size_t maxlenof_flags() const; 00198 bool is_visible() const; 00199 void set_visible(const bool new_visible); 00200 size_t maxlenof_visible() const; 00201 bool is_valid() const; 00202 void set_valid(const bool new_valid); 00203 size_t maxlenof_valid() const; 00204 int visibility_history() const; 00205 void set_visibility_history(const int new_visibility_history); 00206 size_t maxlenof_visibility_history() const; 00207 float roll() const; 00208 void set_roll(const float new_roll); 00209 size_t maxlenof_roll() const; 00210 float pitch() const; 00211 void set_pitch(const float new_pitch); 00212 size_t maxlenof_pitch() const; 00213 float yaw() const; 00214 void set_yaw(const float new_yaw); 00215 size_t maxlenof_yaw() const; 00216 float distance() const; 00217 void set_distance(const float new_distance); 00218 size_t maxlenof_distance() const; 00219 float bearing() const; 00220 void set_bearing(const float new_bearing); 00221 size_t maxlenof_bearing() const; 00222 float slope() const; 00223 void set_slope(const float new_slope); 00224 size_t maxlenof_slope() const; 00225 float * dbs_covariance() const; 00226 float dbs_covariance(unsigned int index) const; 00227 void set_dbs_covariance(unsigned int index, const float new_dbs_covariance); 00228 void set_dbs_covariance(const float * new_dbs_covariance); 00229 size_t maxlenof_dbs_covariance() const; 00230 float world_x() const; 00231 void set_world_x(const float new_world_x); 00232 size_t maxlenof_world_x() const; 00233 float world_y() const; 00234 void set_world_y(const float new_world_y); 00235 size_t maxlenof_world_y() const; 00236 float world_z() const; 00237 void set_world_z(const float new_world_z); 00238 size_t maxlenof_world_z() const; 00239 float * world_xyz_covariance() const; 00240 float world_xyz_covariance(unsigned int index) const; 00241 void set_world_xyz_covariance(unsigned int index, const float new_world_xyz_covariance); 00242 void set_world_xyz_covariance(const float * new_world_xyz_covariance); 00243 size_t maxlenof_world_xyz_covariance() const; 00244 float relative_x() const; 00245 void set_relative_x(const float new_relative_x); 00246 size_t maxlenof_relative_x() const; 00247 float relative_y() const; 00248 void set_relative_y(const float new_relative_y); 00249 size_t maxlenof_relative_y() const; 00250 float relative_z() const; 00251 void set_relative_z(const float new_relative_z); 00252 size_t maxlenof_relative_z() const; 00253 float * relative_xyz_covariance() const; 00254 float relative_xyz_covariance(unsigned int index) const; 00255 void set_relative_xyz_covariance(unsigned int index, const float new_relative_xyz_covariance); 00256 void set_relative_xyz_covariance(const float * new_relative_xyz_covariance); 00257 size_t maxlenof_relative_xyz_covariance() const; 00258 float extent_x() const; 00259 void set_extent_x(const float new_extent_x); 00260 size_t maxlenof_extent_x() const; 00261 float extent_y() const; 00262 void set_extent_y(const float new_extent_y); 00263 size_t maxlenof_extent_y() const; 00264 float extent_z() const; 00265 void set_extent_z(const float new_extent_z); 00266 size_t maxlenof_extent_z() const; 00267 float world_x_velocity() const; 00268 void set_world_x_velocity(const float new_world_x_velocity); 00269 size_t maxlenof_world_x_velocity() const; 00270 float world_y_velocity() const; 00271 void set_world_y_velocity(const float new_world_y_velocity); 00272 size_t maxlenof_world_y_velocity() const; 00273 float world_z_velocity() const; 00274 void set_world_z_velocity(const float new_world_z_velocity); 00275 size_t maxlenof_world_z_velocity() const; 00276 float * world_xyz_velocity_covariance() const; 00277 float world_xyz_velocity_covariance(unsigned int index) const; 00278 void set_world_xyz_velocity_covariance(unsigned int index, const float new_world_xyz_velocity_covariance); 00279 void set_world_xyz_velocity_covariance(const float * new_world_xyz_velocity_covariance); 00280 size_t maxlenof_world_xyz_velocity_covariance() const; 00281 float relative_x_velocity() const; 00282 void set_relative_x_velocity(const float new_relative_x_velocity); 00283 size_t maxlenof_relative_x_velocity() const; 00284 float relative_y_velocity() const; 00285 void set_relative_y_velocity(const float new_relative_y_velocity); 00286 size_t maxlenof_relative_y_velocity() const; 00287 float relative_z_velocity() const; 00288 void set_relative_z_velocity(const float new_relative_z_velocity); 00289 size_t maxlenof_relative_z_velocity() const; 00290 float * relative_xyz_velocity_covariance() const; 00291 float relative_xyz_velocity_covariance(unsigned int index) const; 00292 void set_relative_xyz_velocity_covariance(unsigned int index, const float new_relative_xyz_velocity_covariance); 00293 void set_relative_xyz_velocity_covariance(const float * new_relative_xyz_velocity_covariance); 00294 size_t maxlenof_relative_xyz_velocity_covariance() const; 00295 virtual Message * create_message(const char *type) const; 00296 00297 virtual void copy_values(const Interface *other); 00298 00299 }; 00300 00301 } // end namespace fawkes 00302 00303 #endif
