Greet.h

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#ifndef   _GAMS_ALGORITHMS_GREET_H_
#define   _GAMS_ALGORITHMS_GREET_H_
 
#include <memory>
 
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/algorithms/AlgorithmFactory.h"
#include "gams/pose/CartesianFrame.h"
#include "gams/groups/GroupBase.h"
#include "gams/groups/GroupFactoryRepository.h"
 
namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT Greet : public BaseAlgorithm
    {
    public:
      Greet(
        const std::string & target, const std::string & target_group,
        double guard_distance,
        const std::string & guard_group,
        const std::vector<double> & guard_location,
        double guard_max_follow_distance,
        const std::vector<double> & home_location,
        bool follow, const std::string & follow_group,
        int follow_max_agents,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0);
      
      ~Greet();
 
      void operator=(const Greet & rhs);
      
      virtual int analyze(void);
      
      virtual int execute(void);
 
      virtual int plan(void);
      
    protected:
      variables::Agent target_;
 
      std::unique_ptr<groups::GroupBase> target_group_ = 0;
 
      bool follow_ = false;
 
      std::unique_ptr<groups::GroupBase> follow_group_ = 0;
 
      std::string follow_group_name_ = "group.{.target}.followers";
 
      std::string follow_group_prefix_;
 
      std::string follow_group_suffix_;
 
      int follow_max_agents_ = 2;
 
      double follow_max_distance_ = 1000;
 
      double guard_max_follow_distance_ = -1;
 
      pose::Epsilon guard_epsilon_;
 
      std::unique_ptr<groups::GroupBase> guard_group_ = 0;
 
      pose::Position guard_location_;
 
      // factory for interacting with user-defined groups
      groups::GroupFactoryRepository group_factory_;
 
      pose::Position home_location_;
 
      bool is_following_ = false;
 
      bool is_guarding_ = false;
 
      bool use_agent_home_ = true;
    };
 
    class GAMS_EXPORT GreetFactory : 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_GREET_H_