SharedMem.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 __SHARED_MEM_H_
#define __SHARED_MEM_H_

#include <MRControlInput.h>
#include <MotionModule.h>
#include <Resource.h>
#include <Trajectory.h>

using namespace MipResources;

namespace MipResources{

/* @{ */

class SharedMem : public Resource{
 private:
  static const ResourcePlate _plate= SHMEM_RES; 
  
 protected:
  
  Time _time;
  bool _realTime;
  
  // flag di sicurezza
  bool _emergencyLock;
  
  // tutti i flag della stampa
  bool _printPose;
  bool _printScan;
  bool _printFeat;
  bool _printFormation;
  bool _printFormationDetails;
  bool _printTarget;
  
  // tutti i flag delle funzionalità
  bool _doMloc;
  bool _doAutoNavigation;
  bool _doTracking;
  bool _newPath;
  bool _useDFL;
  // tutte le strutture dati
  PosiFeatures *myProtrusions;
  MotionModuleTState *myProtrusionsTState;
  PosiFeatures *myCorners;
  MotionModuleTState *myCornersTState;
  
  MRControlInputs _controlInputs;
  
  Time _controlInputTime;
  
  PoseFeatures *formation;
  PoseFeatures *estimates;
  Pose *target;
  
  Path* path;
  TimeLaw* timeLaw;
  vector<int>* avoidMutLocIds;
  
  string gaussianMixture;
  
  //TEMPORANEO INSERITO DA MARCO BARBALINARDO
  Angle orientation;
  //FINE TEMPORANEO INSERITO DA MARCO BARBALINARDO
  
  //FOR VISUAL MUTLOC
  vector<Angle> *myCamObs;
  MotionModuleTState *myCamObsTState;
  
  // For 3D odometry
  Decimal _controlInputLinVelX, _controlInputLinVelY, _controlInputLinVelZ;
  Decimal _controlInputAngVelX, _controlInputAngVelY, _controlInputAngVelZ;
  // Attitude
  Angle _attitudeRoll, _attitudePitch, _yaw;
  // Height from sonar
  Decimal _height;
  vector<Position> measCam;
  // Ground truth
  map<int,Pose> gtMobRobQuad;
  
 public:
  SharedMem(int argc, const char* argv[]);
  
  ResourcePlate getPlate() const {
   return _plate;
  }
  
  virtual Time getTime();
  
 protected:
  Time setRealTime();
  
  Time setSimulatedTime();
};

 /* @} */
 
}//end namespace MipResources

#endif