d:/PlatformIO/RoboidControl/Perception.h

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#pragma once
 
#include "LinearAlgebra/Polar.h"
#include "LinearAlgebra/Quaternion.h"
#include "LinearAlgebra/Spherical.h"
#include "Sensor.h"
#include "TrackedObject.h"
 
// #include <vector.h>
 
namespace Passer {
namespace RoboidControl {
 
class Roboid;
 
class Perception {
public:
  Perception();
 
  Perception(Sensor **sensors, unsigned int sensorCount);
 
  Roboid *roboid = nullptr;
 
  unsigned int AddSensor(Sensor *sensor);
 
  unsigned int GetSensorCount();
  Sensor *GetSensor(unsigned int sensorId);
  Sensor *FindSensorOfType(unsigned int sensorType);
 
  float GetDistance(float direction, float range = 10.0F);
  float GetDistanceOfType(unsigned char thingType, float horizontalAngle,
                          float range = 10.0F);
  float GetDistance(float horizontalDirection, float verticalDirection,
                    float range = 10.0F);
 
  bool ObjectNearby(float direction, float range = 10.0F);
  // bool ObjectNearby(float horizontalDirection, float verticalDirection,
  //                   float range = 10.0F);
 
  void AddTrackedObject(Sensor *sensor, Polar position,
                        unsigned char objectType = 0x00,
                        unsigned char networkId = 0x00);
  InterestingThing *
  AddTrackedObject(Sensor *sensor, Spherical position,
                   Quaternion orientation = Quaternion::identity,
                   unsigned char objectId = 0x00, unsigned networkId = 0x00);
 
  InterestingThing *
  AddTrackedObject(Sensor *sensor, unsigned char networkId,
                   unsigned char objectId, Spherical position,
                   Quaternion orientation = Quaternion::identity);
 
  bool IsInteresting(float distance);
 
  InterestingThing *FindTrackedObject(char objectId);
  InterestingThing *FindTrackedObject(unsigned char networkId,
                                      unsigned char objectId);
 
  unsigned char TrackedObjectCount();
  InterestingThing **GetTrackedObjects();
 
  unsigned char ThingsOfType(unsigned char objectType,
                             InterestingThing *buffer[],
                             unsigned char bufferSize);
  InterestingThing *ThingOfType(unsigned char objectType);
 
  InterestingThing *GetMostInterestingThing();
 
  // mainly used for confidence update
 
  void Update(float currentTimeMs);
 
  void UpdatePose(Polar translation);
  void UpdatePose(Quaternion rotation);
 
  float nearbyDistance = 0.02F;
 
public:
  Sensor **sensors = nullptr;
  unsigned int sensorCount = 0;
 
  float lastUpdateTimeMs = 0;
  unsigned char lastObjectId = 1;
 
  static unsigned char maxObjectCount; // = 7; // 7 is typically the maximum
                                       // number of object which can
                                       // be tracked by a human
  InterestingThing **trackedObjects;
};
 
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;