Sensor.h

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#ifndef   _GAMS_VARIABLES_SENSOR_H_
#define   _GAMS_VARIABLES_SENSOR_H_
 
#include <vector>
#include <map>
#include <string>
 
#include "gams/GamsExport.h"
#include "madara/knowledge/containers/Double.h"
#include "madara/knowledge/containers/Map.h"
#include "madara/knowledge/KnowledgeBase.h"
 
#include "gams/pose/SearchArea.h"
#include "gams/pose/GPSFrame.h"
#include "gams/pose/CartesianFrame.h"
 
#include <set>
using std::set;
 
namespace gams
{
  namespace variables
  {
    class GAMS_EXPORT Sensor
    {
    public:
      Sensor();
 
      Sensor(const std::string & name,
        madara::knowledge::KnowledgeBase * knowledge,
        const double & range = 0.0,
        const pose::Position & origin = pose::Position(pose::gps_frame(), DBL_MAX, DBL_MAX));
 
      ~Sensor();
 
      void operator=(const Sensor & rhs);
 
      set<pose::Position> discretize(
        const pose::Region & region);
 
      set<pose::Position> discretize(
        const pose::SearchArea & area);
      
      double get_discretization() const;
 
      pose::Position get_gps_from_index(
        const pose::Position & index);
 
      pose::Position get_index_from_gps(
        const pose::Position & pos);
 
      std::string get_name() const;
 
      pose::Position get_origin();
 
      double get_range() const;
 
      double get_value(const pose::Position& pos);
 
      void set_origin(const pose::Position& origin);
 
      void set_range(const double& range);
 
      void set_value(const pose::Position& pos, const double& val,
        const madara::knowledge::KnowledgeUpdateSettings& settings =
          madara::knowledge::KnowledgeUpdateSettings());
      void init_vars(const std::string & name,
        madara::knowledge::KnowledgeBase* knowledge,
        const double & range = 0.0,
        const pose::Position & origin = pose::Position(pose::gps_frame(), DBL_MAX, DBL_MAX));
 
    protected:
      std::string index_pos_to_index(const pose::Position& pos) const;
 
      void regenerate_local_frame(void);
 
      void init_vars();
 
      madara::knowledge::containers::Map value_;
 
      madara::knowledge::KnowledgeBase* knowledge_;
 
      madara::knowledge::containers::Double range_;
 
      std::string name_;
 
      madara::knowledge::containers::NativeDoubleArray origin_;
 
      pose::ReferenceFrame local_frame_;
    };
 
    typedef  std::map <std::string, Sensor*>   Sensors;
 
    typedef  std::vector <std::string>        SensorNames;
  }
}
 
#endif // _GAMS_VARIABLES_SENSOR_H_