OfflineMR.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_MR_H_
#define __OFFLINE_MR_H_


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

namespace MipResources{
 
 
 /* @{ */
 
 
 class OfflineMR: public MIPObject{
  private:
   int _counterTState;
   int _counterProtrusions;
   int _counterPrevControlInput;
   int _counterControlInput;
   int _counterCamObs;
   int _counter3DObs;
   int _counterGaussianMixtureJointId;
   int _counterTrueTStates;
   
   int _id;
   
   // folder and file names. Must be passed in constructor
   string _folder;
   string _TStateFile;
   string _protrusionsFile;
   string _camObsFile;
   string _gaussianMixtureJointIdFile;
   string _controlIputFile;
   string _truthFile;
   string _truthTSFile;
   
   // private methods
   void _readTStateFile();
   
   void _readFeatSetFile();
   
   void _readControlInputFile();
   
   void _readGaussianMixtureFile();
   
   void _readTruthFile(const int &opt);
   
  public:
   
   vector<PosiFeatures>          _myProtrusions;
   vector<MotionModuleTState>       _myProtrusionsTStates;
   
   vector< vector <Angle> >        _myCamObs;
   vector<MotionModuleTState>       _myCamObsTStates;
   
   vector<MotionModuleTState>       _myTStates;
   
   vector<MotionModuleTState>       _myTrueTStates;
   
   vector<string>             _myGaussianMixtureJointId;
   vector<MotionModuleTState>       _myGaussianMixtureJointIdTStates;
   
   vector<MRControlInput>         _myControlInput;
   
   vector<MipBaselib::PosiFeatures3DTimeArma >     _my3DObs;
   
   map<int,vector< MipBaselib::Position3DTimeArma > >  _my3DTempObs;
   
   Decimal _startingTime;
   bool _firstValidFile;
   
   OfflineMR();
   
   OfflineMR(const int id, const string fol, const string tst, const string pro, const string cao, const string gam, const string coi, const string tru, const string trt, const int &GTLoad);
   
   bool getMyProtrusions(Time &instant, MotionModuleTState &myPTstate, PosiFeatures &pf);
   
   bool getMyCamObs(Time &instant, MotionModuleTState &myCTstate, vector<Angle> &co);
   
   bool getMy3DCamObs(Time &instant, PosiFeatures3DTimeArma &co,int &index);
   
   bool getMyTState(Time &instant, MotionModuleTState &myTState);
   
   bool getMyGaussianMixtureJointId(Time &instant, MotionModuleTState &myGTstate, string &myGMJI);
   
   bool getMyControlInputs(Time &instant, Time &prevInstant, MRControlInputs &myCI);
   
   bool getMyTrueTState(Time &instant, MotionModuleTState &myTrueTState,int* index = NULL);
   
   void getMyTrueTState(MotionModuleTState &myPose, const int &index);
   
   string getObjectName() const{
    return "OfflineMobileRobot";
   }
   
   void compute3DCamObsStatic(Roto3DArma &_rotoFakeGroundTruthCamTrans, Position3DArma &_traslFakeGroundTruthCam, OfflineMR &_my3DObs);
   
   void compute3DCamObs(Roto3DArma &_rotoFakeGroundTruthCamTrans, Position3DArma &_traslFakeGroundTruthCam, OfflineMR &_my3DObs, int i);
 };
 
 /* @} */
 
};// end namespace MipResources



#endif