Region.h

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#include "ReferenceFrame.h"
 
#ifndef  _GAMS_UTILITY_REGION_H_
#define  _GAMS_UTILITY_REGION_H_
 
#include <vector>
#include <string>
 
#include "gams/GamsExport.h"
#include "madara/knowledge/containers/StringVector.h"
 
#include "gams/pose/Position.h"
#include "gams/pose/GPSFrame.h"
#include "gams/pose/CartesianFrame.h"
 
#include "gams/utility/Containerize.h"
 
namespace gams
{
  namespace pose
  {
    class GAMS_EXPORT Region : public utility::Containerize
    {
    public:
      Region(const std::vector <Position> & init_vertices = 
        std::vector<Position>(), unsigned int type = 0, 
        const std::string& name = "");
 
      Region(const Region& rhs);
 
      virtual ~Region();
 
      void operator=(const Region& rhs);
 
      bool operator==(const Region& rhs) const;
 
      bool operator!=(const Region& rhs) const;
 
      std::string get_name() const;
 
      void set_name(const std::string& name);
 
      bool contains(const Position & position) const;
 
      double distance(const Position & position) const;
 
      Region get_bounding_box() const;
 
      double get_area() const;
 
      std::string to_string(const std::string & delimiter = ":") const;
 
      std::vector <Position> vertices;
 
      double min_lat_, max_lat_;
      double min_lon_, max_lon_;
      double min_alt_, max_alt_;
 
    protected:
      void calculate_bounding_box();
 
      unsigned int type_;
 
    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 Region
  } // namespace utility
} // namespace gams
 
#endif // _GAMS_UTILITY_REGION_H_