Cppcheck report - [project name]: NaoTHSoccer/Source/Representations/Perception/LinePerceptOld.h

/** 
 * @file BallPercept.h
 * @author <a href="mailto:mohr@informatik.hu-berlin.de">Christian Mohr</a>
 * Declaration of class LinePerceptOld
 */

#ifndef _LinePerceptOld_h_
#define _LinePerceptOld_h_

#include <vector>

#include "Tools/Math/Vector2.h"
#include "Tools/Math/Line.h"
#include "Tools/LinesTable.h"

#include <Tools/DataStructures/Printable.h>
#include <Tools/DataStructures/Serializer.h>

#include "Representations/Infrastructure/FrameInfo.h"


class LinePerceptOld : public naoth::Printable
{ 
public:

  enum LineType
  {
    unknown, //equals ColorClasses::none
    O, //line along field bounds, equals ColorClasses::orange
    I, //line inside of field, equals ColorClasses::yellow
    C, //circle line, equals ColorClasses::skyblue
    none //invalid line, equals ColorClasses::white
  };

  enum LineID
  {
    center_line,
    goal_line_own,
    goal_line_opponent,
    unknown_id
  };

  /**
   The class LineSegmentImage describes a segment of a line in the image coordinates.
  */
  class LineSegmentImage
  {
  public:
    LineSegmentImage()
      :
      thickness(0.0),
      angle(0.0),
      //type(LinePerceptOld::unknown),
      valid(false)
    {}

    /** the line detected in the image (pixel coordinates) */
    Math::LineSegment segment;

    // information in image
    double thickness;
    double angle;

    /** the type of the line estimated in image */
    //LineType type;

    // what do we need it for?
    bool valid;
  };



  class FieldLineSegment
  {
    public:
      FieldLineSegment()
        :
        //valid(false),
        type(LinePerceptOld::unknown),
        seen_id(unknown_id)
      {}

      // TODO: when exactly is a line segment valid?
      //bool valid; 

      // TODO: is the type filled properly?
      /** the type of the detected line */
      LineType type;

      /** estimated id of the line, e.g., center line, goal line etc. */
      LineID seen_id;

      /** the line detected in the image (pixel coordinates) */
      LineSegmentImage lineInImage;

      /** the projection of the line segment on the ground (robot coordinates) */
      Math::LineSegment lineOnField;
  };//end class FieldLineSegment


  /** 
    currently used only in 3DSim to represent the seen corners.
  */
  class Flag
  {
  public:
    Flag(const Vector2d& seenPosOnField, const Vector2d& absolutePosOnField)
      : 
      seenPosOnField(seenPosOnField),
      absolutePosOnField(absolutePosOnField)
    {}
    Vector2d seenPosOnField;
    Vector2d absolutePosOnField; // model of the flag (i.e. its known absolute osition on the field)
  };



  class Intersection
  {
  public:

    Intersection()
      : type(LineIntersection::unknown)
    {
    }

    Intersection(const Vector2d& pos)
<--- Class 'Intersection' has a constructor with 1 argument that is not explicit. [+]
Class 'Intersection' has a constructor with 1 argument that is not explicit. Such constructors should in general be explicit for type safety reasons. Using the explicit keyword in the constructor means some mistakes when using the class can be avoided.
      :
      type(LineIntersection::unknown),
      pos(pos)
    {
    }

    void setSegments(int segOne, int segTwo)
    {
      segmentIndices[0] = segOne;
      segmentIndices[1] = segTwo;
    }

    void setSegments(int segOne, int segTwo, double distOne, double distTwo)
    {
      segmentIndices[0] = segOne;
      segmentsDistanceToIntersection[0] = distOne;
      segmentIndices[1] = segTwo;
      segmentsDistanceToIntersection[1] = distTwo;
    }

    void setType(LineIntersection::Type typeToSet){ type = typeToSet; }
    void setPosOnField(const Vector2d& p) { posOnField = p; }
    void setPosInImage(const Vector2<unsigned int>& p) { pos = p; }
    
    // getters
    LineIntersection::Type getType() const { return type; }
    const Vector2<unsigned int>& getSegmentIndices() const { return segmentIndices; }
    const Vector2d& getSegmentsDistancesToIntersection() const { return segmentsDistanceToIntersection; }
    const Vector2d& getPos() const { return pos; }
    const Vector2d& getPosOnField() const { return posOnField; }

  private:
    LineIntersection::Type type;
    Vector2<unsigned int> segmentIndices;
    Vector2d segmentsDistanceToIntersection;
    Vector2d pos;
    Vector2d posOnField;
  };

  // seen lines
  std::vector<FieldLineSegment> lines;
  std::vector<FieldLineSegment> short_lines;
  std::vector<FieldLineSegment> extended_lines;
  std::vector<int> edgelLineIDs;

  // seen corners
  std::vector<Intersection> intersections;
  // seen flags (only S3D)
  std::vector<Flag> flags;

  // middle circle was seen
  bool middleCircleWasSeen;
  Vector2d middleCircleCenter;

  bool middleCircleOrientationWasSeen;
  Vector2d middleCircleOrientation;


  // representation for the closest line
  // TODO: this calculations can be made sowhere else
  double closestLineSeenLength;
  Vector2d closestPoint;
  Vector2d estOrthPointOfClosestLine;
  Vector2d closestPointOfClosestLine;

  // a line was seen
  // TODO: do we need it? (lines.empty() also does the job)
  bool lineWasSeen;

  // TODO: do we need it?
  naoth::FrameInfo frameInfoWhenLineWasSeen;


  LinePerceptOld()
  :
    middleCircleWasSeen(false),
    middleCircleOrientationWasSeen(false),
    closestLineSeenLength(0.0),
    lineWasSeen(false)
  {
    reset();
  }

  ~LinePerceptOld() {}
  
  /* reset percept */
  void reset()
  {
    lines.clear();
    short_lines.clear();
    extended_lines.clear();
    //lines.reserve(INITIAL_NUMBER_OF_LINES);

    intersections.clear();
    //intersections.reserve(INITIAL_NUMBER_OF_LINES);

    flags.clear();

    middleCircleWasSeen = false;
    middleCircleCenter.x = 0.0;
    middleCircleCenter.y = 0.0;
    
  }//end reset

  virtual void print(std::ostream& stream) const;

};

class LinePerceptOldTop : public LinePerceptOld
{
public:
  virtual ~LinePerceptOldTop() {}
};

/*
// FIXME: deprecated
class RansacCirclePercept
{
public:
  bool middleCircleWasSeen;
  Vector2d middleCircleCenter;

  // reset percept
  void reset()
  {
    middleCircleWasSeen = false;
    middleCircleCenter.x = 0.0;
    middleCircleCenter.y = 0.0;
  }//end reset

  RansacCirclePercept()
  {
    reset();
  }

  ~RansacCirclePercept() {}
};
*/

namespace naoth
{
  template<>
  class Serializer<LinePerceptOld>
  {
  public:
    static void serialize(const LinePerceptOld& representation, std::ostream& stream);
    static void deserialize(std::istream& stream, LinePerceptOld& representation);
  };

  template<>
  class Serializer<LinePerceptOldTop> : public Serializer<LinePerceptOld>
  {};

}

#endif // _LinePerceptOld_h_