MutLocTask.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 __MUT_LOC_TASK_H_
#define __MUT_LOC_TASK_H_


#include <Task.h>
#include <Resource.h>
#include <MobileRob.h>
#include <DraWin.h>
#include <SharedMem.h>
#include <Time.h>

#include <CommonOptions.h>
#include <MultiReg.h>
#include <DAEKF.h>
#include <PaFil.h>
#include <CommModule.h>


using namespace MipAlgorithms;
using namespace MipResources;

namespace MipTasks{
 
 /* @{ */

 
 class MutLocOptions : public Options {
  public:
   DecimalOption* bLinearToll;
   DecimalOption* bAngularToll;
   IntOption* bObs0Trials;
   IntOption* bObs1Trials;
   IntOption* bMinInliersNum;
   DecimalOption* bPrewarpingToll;
   
   DecimalOption* mLinearToll;
   DecimalOption* mAngularToll;
   DecimalOption* mMaxVisuale;
   DecimalOption* mDiscretizationStep;
   
   DecimalOption* bmDiscretization;
   
   IntOption* filterType;
   
   IntOption* minObservationSize;
   
   IntOption* findTarget;
   IntOption* targetId;
   
   BoolOption* banIdActive;
   
   BoolOption* saveEstimates;
   
   MutLocOptions();
   
   OptionGroupsType getGroup();
   string getObjectName() const {
    return "MutLocOptions";
   }
 };
 
 
 class MutLocSharedMem : public SharedMem{
  public:
   void initSharedMem();
   
   PosiFeatures getMyProtrusions(MotionModuleTState &state);
   
   void setFormation(PoseFeatures &form);
   
   void setEstimates(PoseFeatures &est);
   
   Pose getTarget();
   
   void setTarget(Pose &t);
   
   bool doMloc();
   
   bool printFormation();
   
   bool printFormationDetails();
   
   vector<int> getAvoidMutLocIds();
 };
 
 
 class MutLocTask : public Task{
  private:
   static const TaskPlate _plate = MTL_TASK;
   static const long int  _maxDurSec  = 0,     _maxDurUsec = 500000;
   static const long int  _maxSamplPeriodSec = 1, _maxSamplPeriodUsec = 0;
   static const long int  _minSamplPeriodSec = 0, _minSamplPeriodUsec = 400000;
   
   MobileRob* _mobileRob;  
   Position   robPosition; 
   Pose       robPose;     
   
   DraWin*      _draWin;   
   unsigned int _drawList; 
   bool         dwOn;      
   
   MutLocSharedMem*  _sharedMem;
   
   CommModule* _commModule;
   
   map<int,Pose> estimates;
   vector<int> activatedEstimates;
   map<int,Timer> timeFromLastMessage;
   
   MultiReg *multiReg;
   map<int,MutLocFilter*> filter;
   vector<int> activatedFilters;
   
   vector<int> ignoreIds;
   
   bool domultireg;
   bool dofilter;
   
   bool fifoactive;
   stringstream fifoName;
   FifoTerm * fifo;
   
   map<int,PosiFeatures> othersPosiFeatures;
   map<int,Pose> othersPose;
   vector<int> othersPosiFeaturesNums;
   vector<int> othersPoseNums;
   
   int myId;
   Pose myPose;
   PosiFeatures myPosiFeatures;
   Observation myObservation;
   
   PoseFeatures formation;
   
   MutLocOptions options;
   
   fstream savefile;
   
  public:
   MutLocTask(ResourcePointers resources,int argc, const char* argv[]);
   
   ~MutLocTask();
 
   TaskPlate getPlate() const {
    return _plate;
   }
   Time getMaxDuration(){
    return Time(_maxDurSec,_maxDurUsec);
   }
   Time getMaxSamplPeriod(){
    return Time(_maxSamplPeriodSec,_maxSamplPeriodUsec);
   }
   Time getMinSamplPeriod(){
    return Time(_minSamplPeriodSec,_minSamplPeriodUsec);
   }
   TaskOutputs run();
  
  private:
   
   void comunicate();
   
   void draw();
   
   void fifoSend();
   
   void writeSharedMem();
   
   void computeFormation();
   
   void insertValidObservations(vector<Observation> &allObservations);
   
   void completeMutLocFilInput(MutLocFilInput &fStepIn, int hisId);
   
   bool activeFilter(int hisId);
   
   bool activeEstimate(int hisId);
 };
 
 /* @} */
 
}; // end namespace MipTasks


#endif