wak_game_vars.h

// Walk and kick: Game variables
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef WAK_GAME_VARS_H
#define WAK_GAME_VARS_H

// Includes
#include <walk_and_kick/wak_common.h>

// Walk and kick namespace
namespace walk_and_kick
{
    class GameVars
    {
    public:
        // Ball target type enumeration
        enum BTType           // Ball target type
        {
            BTT_UNKNOWN = 0,  // Unknown source of ball target
            BTT_GOAL,         // Ball target based on goal detection
            BTT_POSE,         // Ball target based on localised robot pose
            BTT_COMPASS,      // Ball target based on compass heading
            BTT_COUNT
        };
        static bool ballTargetTypeValid(int type) { return (type > BTT_UNKNOWN && type < BTT_COUNT); }
        static bool ballTargetTypeValid(BTType type) { return ballTargetTypeValid((int) type); }
        static char ballTargetTypeChar(BTType type) { if(ballTargetTypeValid(type)) return BallTargetTypeChar[type]; else return BallTargetTypeChar[BTT_UNKNOWN]; }
        static const std::string& ballTargetTypeName(BTType type) { if(ballTargetTypeValid(type)) return BallTargetTypeName[type]; else return BallTargetTypeName[BTT_UNKNOWN]; }
    private:
        static const char BallTargetTypeChar[BTT_COUNT];
        static const std::string BallTargetTypeName[BTT_COUNT];

    public:
        // Foot selection enumeration
        enum FootSelection
        {
            FS_LEFT_FOOT = -1,   // Suggest use of the left foot
            FS_EITHER_FOOT = 0,  // No particular reason to prefer either foot
            FS_RIGHT_FOOT = 1    // Suggest use of the right foot
        };
        static const std::string& footSelectionName(FootSelection foot) { if(foot < 0) return FootSelectionName[0]; else if(foot > 0) return FootSelectionName[2]; else return FootSelectionName[1]; }
    private:
        static const std::string FootSelectionName[3];

    public:
        // Constructor
        GameVars() { reset(); }

        // Reset function
        void reset();

        // Validation function
        bool coerceEnums();

        // Get functions
        char ballTargetTypeChar() const { return ballTargetTypeChar(ballTargetType); }
        const std::string& ballTargetTypeName() const { return ballTargetTypeName(ballTargetType); }
        bool suggestLeftFoot() const { return (suggestFoot < 0); }
        bool suggestRightFoot() const { return (suggestFoot > 0); }
        bool noSuggestedFoot() const { return (suggestFoot == 0); }

        // Member variables
        int forceBehStateByID;        // Force a particular behaviour state, specified by its behaviour state ID
        FootSelection suggestFoot;    // Strongly suggest the use of a particular foot
        bool dribbleIfPossible;       // Dribble the ball towards the ball target if this is possible
        bool kickIfPossible;          // Kick the ball towards the ball target if this is possible
        DiveDirection diveIfPossible; // Dive to save the ball if this is possible
        float ballTargetConf;         // Confidence of the ball target
        Vec2f ballTargetDir;          // Egocentric vector from the robot to the ball target
        float ballTargetWedge;        // The width of the ball target expressed as the angle it subtends at the ball position
        BTType ballTargetType;        // Enumeration value specifying the type of ball target that was calculated
        Vec3f targetPose;             // The target walking pose for the robot
        float targetPoseTol;          // The tolerance in the specified target pose
        bool targetPoseValid;         // Boolean flag whether the target pose is valid
    };
}

#endif
// EOF