common.h

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#ifndef _COMMON_H
#define _COMMON_H

#include <iostream>
#include <string>
#include <vector>
#include "Geometry.h"
#include "Matrix.h"

void joint_name_to_number(const std::string &, int &, int &);
int flag_name_to_number(const std::string &);
extern std::string joint_number_to_name[];
extern std::string flag_number_to_name[];
extern std::string limb_name[];

// Flags enum
#define F1L 0
#define F2L 1
#define F1R 2
#define F2R 3
#define G1L 4
#define G2L 5
#define G1R 6
#define G2R 7

enum situation_e
{
	SARPAA,
	YEVAR,
	DAMAR,
	TAVAZ,
};

enum joint_e
{
LAJ1,
LAJ2,
RAJ1,
RAJ2,
LAJ3,
RAJ3,
LAJ4,
RAJ4,
LLJ1,
RLJ1,
LLJ2,
LLJ3,
RLJ2,
RLJ3,
LLJ4,
RLJ4,
LLJ5,
LLJ6,
RLJ5,
RLJ6,
HJ1,
HJ2

};

enum limb_e
{
	Torso,
	Neck,
	Head,
	RightShoulder,
	LeftShoulder,
	RightUpperarm,
	LeftUpperarm,
	RightElbow,
	LeftElbow,
	RightLowerArm,
	LeftLowerArm,
	RightHip1,
	LeftHip1,
	RightHip2,
	LeftHip2,
	RightThigh,
	LeftThigh,
	RightShank,
	LeftShank,
	RightAnkle,
	LeftAnkle,
	RightFoot,
	LeftFoot,
};


enum play_mode_e
{
	BEFOR_KICK_OFF,
	KICK_OFF_LEFT,
	KICK_OFF_RIGHT,
	PLAY_ON,
	KICK_IN_LEFT,
	KICK_IN_RIGHT,
	CORNER_KICK_LEFT,
	CORNER_KICK_RIGHT,
	GOAL_KICK_LEFT,
	GOAL_KICK_RIGHT,
	OFFSIDE_LEFT,
	OFFSIDE_RIGHT,
	GAME_OVER,
	GOAL_LEFT,
	GOAL_RIGHT,
	FREE_KICK_LEFT,
	FREE_KICK_RIGHT
};

play_mode_e play_mode_name_to_enum(std::string);

struct agent
{
	int id;
	Vector3d vision_position,global_position;
	agent();
	agent(int, Vector3d);
};

struct flag
{
	Vector3d global_position;
	Vector3d vision_position;
	Vector3d relative_position;
//	vector3d vision_position_clear;
};

struct joint
{
	double rate;
	double angle;
	double update_time;
	double previous_angle;
	double previous_update_time;
};

struct limb
{
	Matrix mat;
};

struct command
{
	command();
	double power[20];
};

struct state
{
	state();
	double min_time;
	double max_time;
	double angle[20];
	double gain[20];
	double precision[20];
	bool   imp[20];
};

struct action
{
	action();
	bool load(std::istream &);
	void save(std::ostream &);

	int repeat;
	std::string name;
	std::vector<state> arr;
};

struct trajectory
{
	trajectory();
	void load(std::istream &);

	std::vector<command> arr;
	std::string name;
	int repeat;
};

#endif