FormationSync.h

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#ifndef _GAMS_ALGORITHMS_FORMATION_SYNC_H_
#define _GAMS_ALGORITHMS_FORMATION_SYNC_H_
 
#include <vector>
#include <string>
 
#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/algorithms/AlgorithmFactory.h"
#include "madara/knowledge/containers/Integer.h"
#include "madara/knowledge/containers/Barrier.h"
#include "gams/groups/GroupFactoryRepository.h"
 
namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT FormationSync : public BaseAlgorithm
    {
    public:
 
      enum FormationTypes
      {
        PYRAMID,
        TRIANGLE,
        RECTANGLE,
        CIRCLE,
        LINE,
        WING
      };
 
      FormationSync(
        pose::Pose & start,
        pose::Pose & end,
        const std::string & group,
        double buffer,
        int formation,
        const std::string & barrier_name,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0);
 
      ~FormationSync();
 
      void operator=(const FormationSync & rhs);
      
      virtual int analyze(void);
      
      virtual int execute(void);
 
      virtual int plan(void);
      
    protected:
      void generate_plan(int formation);
 
      pose::Position generate_position(pose::Position reference,
        double angle, double distance);
 
      pose::Pose start_;
 
      pose::Pose end_;
 
      groups::GroupFactoryRepository group_factory_;
 
      groups::GroupBase * group_;
 
      groups::AgentVector group_members_;
 
      double buffer_;
 
      std::vector <pose::Position> plan_;
 
      int formation_;
 
      int position_;
 
      int move_pivot_;
 
      madara::knowledge::containers::Barrier barrier_;
    };
    
    class GAMS_EXPORT FormationSyncFactory : 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_SYNC_H_