SearchArea.h

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#include "ReferenceFrame.h"
 
#ifndef  _GAMS_UTILITY_SEARCH_AREA_H_
#define  _GAMS_UTILITY_SEARCH_AREA_H_
 
#include <vector>
#include <string>
 
#include "gams/pose/PrioritizedRegion.h"
 
namespace gams
{
  namespace pose
  {
    class GAMS_EXPORT SearchArea : public utility::Containerize
    {
    public:
      SearchArea();
 
      SearchArea(const PrioritizedRegion& region, 
        const std::string& name = "");
 
      SearchArea(const std::vector<PrioritizedRegion>& regions,
        const std::string& name = "");
 
      ~SearchArea();
 
      bool operator==(const SearchArea& rhs) const;
 
      bool operator!=(const SearchArea& rhs) const;
 
      void operator=(const SearchArea & rhs);
 
      void add_prioritized_region(const PrioritizedRegion& r);
 
      Region get_convex_hull() const;
 
      const std::vector<PrioritizedRegion>& get_regions() const;
 
      madara::knowledge::KnowledgeRecord::Integer get_priority(const Position& pos) const;
      
      bool contains(const Position& p) const;
      
      std::string to_string() const;
 
      double min_lat_, max_lat_;
      double min_lon_, max_lon_;
      double min_alt_, max_alt_;
 
    protected:
      void calculate_bounding_box();
 
      double cross(const Position& gp1, const Position& gp2, 
        const Position& gp3) const;
 
      std::vector<PrioritizedRegion> regions_;
 
    private:
      virtual bool check_valid_type(madara::knowledge::KnowledgeBase& kb,
        const std::string& name) const;
 
      virtual void to_container_impl(
        madara::knowledge::KnowledgeBase& kb, 
        const std::string& name);
 
      virtual bool from_container_impl(
        madara::knowledge::KnowledgeBase& kb, 
        const std::string& name);
    }; // class SearchArea
  } // namespace utility
} // namespace gams
 
#include "SearchArea.inl"
 
#endif // _GAMS_UTILITY_SEARCH_AREA_H_