FormationCoverage.h

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#ifndef _GAMS_ALGORITHMS_FORMATION_COVERAGE_H_
#define _GAMS_ALGORITHMS_FORMATION_COVERAGE_H_
 
#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/algorithms/FormationFlying.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/algorithms/area_coverage/BaseAreaCoverage.h"
#include "gams/utility/GPSPosition.h"
#include "gams/algorithms/AlgorithmFactory.h"
 
namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT FormationCoverage : public BaseAlgorithm
    {
    public:
      FormationCoverage(
        const std::string & head_id,
        const std::vector<double> & offset,
        const std::vector<double> & destination,
        const std::string & group_name,
        const std::string & modifier,
        const std::string & coverage,
        const madara::knowledge::KnowledgeMap & cover_args,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0);
 
      ~FormationCoverage();
 
      void operator=(const FormationCoverage & rhs);
      
      virtual int analyze(void);
      
      virtual int execute(void);
 
      virtual int plan(void);
      
    protected:
      area_coverage::BaseAreaCoverage* head_algo_;
 
      bool is_covering_;
 
      FormationFlying* my_formation_;
 
      madara::knowledge::containers::NativeDoubleArray head_destination_;
    };
    
    class GAMS_EXPORT FormationCoverageFactory : public AlgorithmFactory
    {
    public:
 
      virtual BaseAlgorithm * create(
        const madara::knowledge::KnowledgeMap & args,
        madara::knowledge::KnowledgeBase * knowledge,
        platforms::BasePlatform * platform,
        variables::Sensors * sensors,
        variables::Self * self,
        variables::Agents * agents);
    };
  }
}
 
#endif // _GAMS_ALGORITHMS_FORMATION_COVERAGE_H_