OfflineUav.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP 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 3 of the License, or
// (at your option) any later version.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------



#ifndef __OFFLINE_QUAD_H_
#define __OFFLINE_QUAD_H_


#include <MRControlInput.h>
#include <MotionModule.h>
#include <SimTime.h>
#include <SpacesArma.h>

namespace MipResources{
 
 
 /* @{ */
 
 class dataUav{
  public:
   SimTime         time;
   Decimal         sonar;
   Orientation3D      attitude;
   Velocity3DArma     velocity;
   vector<Position2DArma> camObs;
   
   dataUav();
   
   ~dataUav();
   
   dataUav& operator=(const dataUav& mc);
   
   dataUav(const dataUav& mc);
   
   string exportAsString() const;
 };
 
 class sonarUav{
  public:
   SimTime  sonarTime;
   Decimal  sonarMeas;
   
   sonarUav();
   
   sonarUav(const SimTime& time, const Decimal &meas);
   
   sonarUav(stringstream& ss);
   
   ~sonarUav();
   
   sonarUav& operator=(const sonarUav& mc);
   
   sonarUav(const sonarUav& mc);
   
   string exportAsString() const;
 };
 
 class attitudeUav{
  public:
   SimTime     attTime;
   Orientation3D  attUav;
   
   attitudeUav();
   
   attitudeUav(const SimTime& time, const Orientation3D &att);
   
   attitudeUav(const SimTime& time, const Decimal& roll, const Decimal& pitch, const Decimal& yaw);
   
   attitudeUav(const SimTime& time, const Decimal& roll, const Decimal& pitch);
   
   attitudeUav(stringstream& ss,bool opt);
   
   ~attitudeUav();
   
   attitudeUav& operator=(const attitudeUav& mc);
   
   attitudeUav(const attitudeUav& mc);
   
   string exportAsString() const;
 };
 
 class velocityUav{
  public:
   SimTime     velTime;
   Velocity3DArma velUav;
   
   velocityUav();
   
   velocityUav(const SimTime& time, const Velocity3DArma &vel);
   
   velocityUav(const SimTime& time, const Decimal& velX, const Decimal& velY, const Decimal& velZ);
   
   ~velocityUav();
   
   velocityUav& operator=(const velocityUav& mc);
   
   velocityUav(const velocityUav& mc);
   
   string exportAsString() const;
 };
 
 
 typedef struct vector<Position2DArma> camObs;
 
 class OfflineUav: public MIPObject{
  private:
   int _counterTruth;
   int _id;
   int _counterTime;
   string _idStr;
   
   // Folder and file names. Must be passed in constructor
   string _folder;
   string _IMUFile;
   string _sonarAttFile;
   string _camObsFile;
   string _velFile;
   string _truthFile;
   string _timeFile;
   string _timeGTFile;
   
   // Structure for saving data
   vector<SimTime>     _myTime;
   vector<Orientation3D>  _myAttitude;
   vector<camObs>     _myCamObs;
   vector<Decimal>     _mySonar;
   vector<Velocity3DArma> _myLinVelocity;
   vector<Velocity3DArma> _myAngVelocity;
   
   // Ground truth
   vector<SimTime>     _myGTTime;
   vector<Pose3DArma>   _myGTPose;
   
   Decimal _startingTime;
   bool _firstValidFile;
   
   // Private methods
   void _readCamObsFile();
   
   void _readSonarAttFile();
   
   void _readTruthFile();
   
   void _readVelFile();
   
   void _readTimeFile();
   
  public:
   
   OfflineUav();
   
   OfflineUav(const string &id, const string &fn, const string &timeF, const string &cof, const string &sf, const string& gttf, const string& gtf, const string& vf);
   
   string getObjectName() const{
    return "OfflineUav";
   }
   
   bool getMyTime(Time &instant,int &index);
   
   Orientation3D getMyAttitude(const int &index) const;
   
   Decimal getMyRoll(const int &index) const;
   
   Decimal getMyPitch(const int &index) const;
   
   Decimal getMyYaw(const int &index) const;
   
   Velocity3DArma getMyLinearVelocity(const int &index) const;
   
   Velocity3DArma getMyAngularVelocity(const int &index) const;
   
   Decimal getMySonar(const int &index) const;
   
   vector<Position2DArma> getMyObs(const int &index) const;
   
   bool getMyGroundTruth(Time& instant, Pose3DArma &myPose, int& index);
   
   Decimal getMyStartingTime() const;
 };
 
 /* @} */
 
};// end namespace MipResources



#endif