MAComplexIndicators.hpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#pragma once

#include "core/MANum.hpp"
#include "MARobotStateUpdater.hpp"

class MARobotState;

struct MAComplexIndicators : public MARobotStateUpdater
{
  MAComplexIndicators();

  bool IsLocomotionActive() const;

private:
  virtual void UpdateRobotState(MARobotState& state) override;

  void GenerateWalkPeriod(MARobotState& state);
  void GenerateNearObjectForward(MARobotState& state);
  void GenerateAbyssWhileLying(MARobotState& state);
  void GenerateAbyssWhileWalking(MARobotState& state);
  void GenerateBodyOutOfWalkingRange(MARobotState& state);
  void GenerateOverloadDangerWhileSitting(MARobotState& state);
  void GenerateListenWithEars(MARobotState& state);
  void GenerateMicrophoneChannelDominances(MARobotState& state);

public:
  /*
   * The robot is in lying posture
   * 0 - Not lying posture 100 - In lying posture
   */
  MANum<int> IsLyingPosture;
  /*
   * The robot is in standing posture
   * 0 - Not standing posture 100 - In standing posture
   */
  MANum<int> IsStandingPosture;
  /*
   * The robot is in sitting posture
   * 0 - Not sitting posture 100 - In sitting posture
   */
  MANum<int> IsSittingPosture;
  MANum<int> WalkPeriod;
  MANum<int> ElapsedForwardWalkTime;
  MANum<int> ElapsedBackwardWalkTime;
  MANum<int> ElapsedLeftTurnTime;
  MANum<int> ElapsedRightTurnTime;
  /*
   * Near object before the dog
   * 0 - No object 100 - Object before the dog
   */
  MANum<int> NearObjectForward;
  MANum<int> AbyssWhileWalking;
  /*
   * Abyss is before the dog while lying
   * -1 - Not known 0 - No abyss 1 - There is abyss
   */
  MANum<int> AbyssWhileLying;
  MANum<int> BodyOutOfWalkingRange;
  MANum<int> OverloadDangerWhileSitting;
  MANum<int> PoseTransition;
  MANum<int> ListenWithEars;
  MANum<int> LeftMicrophoneDominance;
  MANum<int> RightMicrophoneDominance;
  MANum<int> MicrophoneChannelsBalance;
private:
  MAIntervalNum<int> NearObjectForwardFactor;
  MAIntervalNum<int> AbyssWhileWalkingFactor;
  MAIntervalNum<int> BodyOutOfWalkingRangeFactor;
  MAIntervalNum<int> OverloadDangerWhileSittingFactor;
  int WalkSpeedAccelerationStart;
};