00001 /** 00002 * @file PackageCognitionMotion.cpp 00003 * 00004 * Implementation of class PackageCognitionMotion. 00005 * 00006 * @author Matthias Jüngel 00007 */ 00008 00009 #include "PackageCognitionMotion.h" 00010 00011 PackageCognitionMotion::PackageCognitionMotion() 00012 : teamColor(getPlayer().getTeamColor()),walkParameterTimeStamp(0),wLanStatus(0),timeStamp(0) 00013 { 00014 ERS7EvolveWalkingParameters p; 00015 invKinWalkingParameters = p; 00016 gt2004WalkingParameters = p; 00017 } 00018 00019 In& operator>>(In& stream, PackageCognitionMotion& packageCognitionMotion) 00020 { 00021 int teamColor; 00022 stream 00023 >> packageCognitionMotion.landmarksState 00024 >> packageCognitionMotion.robotPose 00025 >> packageCognitionMotion.ballModel 00026 >> packageCognitionMotion.playerPoseCollection 00027 >> packageCognitionMotion.robotState 00028 >> packageCognitionMotion.motionRequest 00029 >> packageCognitionMotion.headControlMode 00030 >> packageCognitionMotion.ledRequest 00031 >> packageCognitionMotion.soundRequest 00032 >> teamColor 00033 >> packageCognitionMotion.invKinWalkingParameters 00034 >> packageCognitionMotion.gt2004WalkingParameters 00035 >> packageCognitionMotion.walkParameterTimeStamp 00036 >> packageCognitionMotion.wLanStatus 00037 >> packageCognitionMotion.timeStamp; 00038 packageCognitionMotion.teamColor = (Player::teamColor) teamColor; 00039 return stream; 00040 } 00041 00042 Out& operator<<(Out& stream, const PackageCognitionMotion& packageCognitionMotion) 00043 { 00044 stream 00045 << packageCognitionMotion.landmarksState 00046 << packageCognitionMotion.robotPose 00047 << packageCognitionMotion.ballModel 00048 << packageCognitionMotion.playerPoseCollection 00049 << packageCognitionMotion.robotState 00050 << packageCognitionMotion.motionRequest 00051 << packageCognitionMotion.headControlMode 00052 << packageCognitionMotion.ledRequest 00053 << packageCognitionMotion.soundRequest 00054 << (int) packageCognitionMotion.teamColor 00055 << packageCognitionMotion.invKinWalkingParameters 00056 << packageCognitionMotion.gt2004WalkingParameters 00057 << packageCognitionMotion.walkParameterTimeStamp 00058 << packageCognitionMotion.wLanStatus 00059 << packageCognitionMotion.timeStamp; 00060 00061 00062 return stream; 00063 } 00064 00065 /* 00066 * Change Log: 00067 * 00068 * $Log: PackageCognitionMotion.cpp,v $ 00069 * Revision 1.6 2004/07/10 00:13:55 spranger 00070 * renaming for coderelease and preparations for gt2005 00071 * 00072 * Revision 1.5 2004/06/20 18:15:56 dueffert 00073 * another initialization added 00074 * 00075 * Revision 1.4 2004/06/14 16:53:32 juengel 00076 * Removed some WalkingEngineParameterSets. 00077 * 00078 * Revision 1.3 2004/06/03 14:37:37 dueffert 00079 * initialization of package moved to package: should fix wrong InvKin parameters bug 00080 * 00081 * Revision 1.2 2004/05/22 22:52:02 juengel 00082 * Renamed ballP_osition to ballModel. 00083 * 00084 * Revision 1.1.1.1 2004/05/22 17:25:01 cvsadm 00085 * created new repository GT2004_WM 00086 * 00087 * Revision 1.11 2004/05/14 14:12:08 wachter 00088 * - Added communication support for 5 robots 00089 * - rewrote parts of team-communication to be faster and more stable 00090 * 00091 * Revision 1.10 2004/04/11 18:49:45 roefer 00092 * Team color is sent again from Cognition to Motion. 00093 * Otherwise, messages sent by Motion may contain the wrong team color. 00094 * 00095 * Revision 1.9 2004/04/07 13:00:47 risler 00096 * ddd checkin after go04 - second part 00097 * 00098 * Revision 1.2 2004/04/01 19:52:44 Charlie 00099 * added LandmarkState 00100 * 00101 * Revision 1.1.1.1 2004/03/29 08:28:46 Administrator 00102 * initial transfer from tamara 00103 * 00104 * Revision 1.8 2004/03/30 11:48:51 dueffert 00105 * memory hole fixed 00106 * 00107 * Revision 1.7 2004/03/27 14:45:08 loetzsch 00108 * removed team color from PackageCognitionMotion 00109 * 00110 * Revision 1.6 2004/03/10 12:17:50 roefer 00111 * Player bug fixed 00112 * 00113 * Revision 1.5 2004/03/08 15:29:11 tim 00114 * Sending the Player object to the Motion process 00115 * 00116 * Revision 1.4 2004/03/04 10:05:28 jhoffman 00117 * - motion process now uses odometry to propagate the robot pose while no new robot pose is being sent (this makes headcontrol a little better) 00118 * - removed headcontrol member variable "propagatedPose" from headcontrol and cognition->motion-sender 00119 * 00120 * Revision 1.3 2004/02/16 17:57:43 dueffert 00121 * packageCognitionMotion extended with invkin parameters 00122 * 00123 * Revision 1.2 2003/11/24 15:31:20 dueffert 00124 * SpecialPercept removed from PackageCognition 00125 * 00126 * Revision 1.1 2003/10/07 10:07:01 cvsadm 00127 * Created GT2004 (M.J.) 00128 * 00129 * Revision 1.1.1.1 2003/07/02 09:40:25 cvsadm 00130 * created new repository for the competitions in Padova from the 00131 * tamara CVS (Tuesday 2:00 pm) 00132 * 00133 * removed unused solutions 00134 * 00135 * Revision 1.5 2003/06/15 22:42:22 loetzsch 00136 * no message 00137 * 00138 * Revision 1.4 2002/11/28 14:44:04 jhoffman 00139 * added a special percept for the motion detector 00140 * 00141 * Revision 1.3 2002/10/02 13:31:16 loetzsch 00142 * now all elements are streamed 00143 * 00144 * Revision 1.2 2002/09/17 23:55:22 loetzsch 00145 * - unraveled several datatypes 00146 * - changed the WATCH macro 00147 * - completed the process restructuring 00148 * 00149 * Revision 1.1 2002/09/12 14:20:05 juengel 00150 * Created a package for all data sent from Cognition to Motion. 00151 * 00152 * 00153 */
1.3.6