MASurfaceAnalyzer.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 "MAAnalyzer.hpp"

#include "core/MACoreTypes.hpp"

#include <MCDefs.hpp>
#include <MCSamples.hpp>

class MARobotState;

class MASurfaceAnalyzer : public MAAnalyzer
{
public:
  explicit MASurfaceAnalyzer(int sample_size);

  virtual void AddSamples(const MARobotState& robot_state) override;
  virtual void Reset() override;
  virtual bool IsValid() const override;
  virtual MC::FloatList GetFeatureVector() override;

protected:
  int SampleSize;
  int IrSampleSize;
  MC::DoubleList AccelXRawSamples;
  MC::DoubleList AccelYRawSamples;
  MC::DoubleList AccelZRawSamples;
  MCSamples<double> AccelXSamples;
  MCSamples<double> AccelYSamples;
  MCSamples<double> AccelZSamples;
  MCSamples<double> IrChestSamples;
  MC::DoubleList IrChestRawSamples;
  MCSamples<double> PawLFSamples;
  MCSamples<double> PawLHSamples;
  MCSamples<double> PawRFSamples;
  MCSamples<double> PawRHSamples;
  MCSamples<double> LegLHJ1ForceSamples;
  MC::DoubleList LegLHJ1ForceRawSamples;
  MCSamples<double> LegRHJ1ForceSamples;
  MC::DoubleList LegRHJ1ForceRawSamples;
};