ClearingTask.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: franchi@diag.uniroma1.it stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------






#ifndef __CLEARING_TASK_H_
#define __CLEARING_TASK_H_


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

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


using namespace MipAlgorithms;
using namespace MipResources;

namespace MipTasks{
 
 /* @{ */

 
 class ClearingOptions : public Options {
  public:
   
   IntOption* filterType;
   
   ClearingOptions();
   
   OptionGroupsType getGroup();

   string getObjectName() const {
    return "ClearingOptions";
   }
 };
 
 
 class ClearingSharedMem : 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 doAutoNavigation();
   
   bool printFormation();
   
   bool printFormationDetails();
   
   vector<int> getAvoidClearingIds();
 };
 
 
 class ClearingTask : public Task{
  private:
   static const TaskPlate _plate = CLE_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;  
   ClearingMobileRobot* _clMr;
   Position   robPosition; 
   Pose       robPose;     
   
   DraWin*      _draWin;   
   unsigned int _drawList; 
   bool         dwOn;      
   
   ClearingSharedMem*  _sharedMem;
   
   CommModule* _commModule;
   
   vector<ClearingAgent> agentVec; 
   vector<Position> agentViewpoints; 
   Grid* gGlobalGrid;
   bool bContinue;
   
   bool domultireg;
   bool dofilter;
   
   map<int,PosiFeatures> othersPosiFeatures;
   map<int,Pose> othersPose;
   vector<int> othersPosiFeaturesNums;
   vector<int> othersPoseNums;
   
   int myId;
   Pose myPose;
   PosiFeatures myPosiFeatures;
   Observation myObservation;
   
   ClearingOptions options;
   
  public:
   ClearingTask(ResourcePointers resources,int argc, const char* argv[]);
   
   ~ClearingTask();
   
   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();
   
 };
 
 /* @} */
 
}; // end namespace MipTasks


#endif