00001 /** 00002 * @file RobotStateDetector.h 00003 * 00004 * This file contains a generic class for RobotStateDetector. 00005 */ 00006 00007 #ifndef __RobotStateDetector_h_ 00008 #define __RobotStateDetector_h_ 00009 00010 #include "Tools/Module/Module.h" 00011 #include "Tools/RobotConfiguration.h" 00012 00013 #include "Representations/Perception/BodyPercept.h" 00014 #include "Representations/Perception/CollisionPercept.h" 00015 #include "Representations/Cognition/RobotState.h" 00016 00017 00018 /** 00019 * @class RobotStateDetectorInterfaces 00020 * 00021 * The interfaces of the RobotStateDetector module. 00022 */ 00023 class RobotStateDetectorInterfaces 00024 { 00025 public: 00026 /** Constructor.*/ 00027 RobotStateDetectorInterfaces( 00028 const BodyPercept& bodyPercept, 00029 const CollisionPercept& collisionPercept, 00030 RobotState& robotState 00031 ) 00032 : 00033 bodyPercept(bodyPercept), 00034 collisionPercept(collisionPercept), 00035 robotState(robotState) 00036 {} 00037 00038 /** The BodyPercept*/ 00039 const BodyPercept& bodyPercept; 00040 00041 /** Detected collisions for each joint */ 00042 const CollisionPercept& collisionPercept; 00043 00044 /** The RobotState*/ 00045 RobotState& robotState; 00046 }; 00047 00048 /** 00049 * @class RobotStateDetector 00050 * 00051 * The Base class for robot state detection 00052 * 00053 * Robot state detectors detect button messages and whether the robot is crashed. 00054 */ 00055 class RobotStateDetector : public Module, public RobotStateDetectorInterfaces, public RobotDimensions 00056 { 00057 public: 00058 /* 00059 * Constructor. 00060 * @param interfaces The paramters of the RobotStateDetector module. 00061 */ 00062 RobotStateDetector(const RobotStateDetectorInterfaces& interfaces) 00063 : RobotStateDetectorInterfaces(interfaces), 00064 RobotDimensions(getRobotConfiguration().getRobotDimensions()) 00065 {} 00066 00067 /** Destructor */ 00068 virtual ~RobotStateDetector() {} 00069 }; 00070 00071 #endif //__RobotStateDetector_h_ 00072 00073 00074 /* 00075 * Change log : 00076 * 00077 * $Log: RobotStateDetector.h,v $ 00078 * Revision 1.2 2004/05/27 09:33:18 loetzsch 00079 * clean up 00080 * 00081 * Revision 1.1.1.1 2004/05/22 17:20:41 cvsadm 00082 * created new repository GT2004_WM 00083 * 00084 * Revision 1.3 2004/03/08 02:11:45 roefer 00085 * Interfaces should be const 00086 * 00087 * Revision 1.2 2004/01/24 11:39:34 juengel 00088 * RobotStateDetector is derived from RobotDimensions 00089 * 00090 * Revision 1.1 2003/10/06 14:10:14 cvsadm 00091 * Created GT2004 (M.J.) 00092 * 00093 * Revision 1.3 2003/09/26 21:23:20 loetzsch 00094 * renamed class JointState to CollisionPercept 00095 * 00096 * Revision 1.2 2003/09/26 15:27:49 juengel 00097 * Renamed DataTypes to representations. 00098 * 00099 * Revision 1.1.1.1 2003/07/02 09:40:24 cvsadm 00100 * created new repository for the competitions in Padova from the 00101 * tamara CVS (Tuesday 2:00 pm) 00102 * 00103 * removed unused solutions 00104 * 00105 * Revision 1.3 2003/06/19 09:04:20 goehring 00106 * JointState added 00107 * 00108 * Revision 1.2 2002/09/12 09:45:58 juengel 00109 * continued change of module/solution mechanisms 00110 * 00111 * Revision 1.1 2002/09/10 15:36:15 cvsadm 00112 * Created new project GT2003 (M.L.) 00113 * - Cleaned up the /Src/DataTypes directory 00114 * - Removed challenge related source code 00115 * - Removed processing of incoming audio data 00116 * - Renamed AcousticMessage to SoundRequest 00117 * 00118 * Revision 1.2 2002/08/22 14:41:03 risler 00119 * added some doxygen comments 00120 * 00121 * Revision 1.1.1.1 2002/05/10 12:40:15 cvsadm 00122 * Moved GT2002 Project from ute to tamara. 00123 * 00124 * Revision 1.4 2002/03/28 16:55:58 risler 00125 * RobotStateDetector receives BodyPercept instead of PerceptCollection 00126 * added switch duration in RobotStateDetector 00127 * 00128 * Revision 1.3 2001/12/21 14:09:39 roefer 00129 * Added several destructors 00130 * 00131 * Revision 1.2 2001/12/10 17:47:07 risler 00132 * change log added 00133 * 00134 */
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