UniformRandomAreaCoverage.h

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#ifndef   _GAMS_ALGORITHMS_AREA_COVERAGE_UNIFORM_RANDOM_AREA_COVERAGE_H_
#define   _GAMS_ALGORITHMS_AREA_COVERAGE_UNIFORM_RANDOM_AREA_COVERAGE_H_
 
#include "gams/algorithms/AlgorithmFactory.h"
#include "gams/algorithms/area_coverage/BaseAreaCoverage.h"
 
#include "gams/platforms/BasePlatform.h"
#include "gams/variables/Sensor.h"
#include "gams/variables/Self.h"
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/pose/Region.h"
 
namespace gams
{
  namespace algorithms
  {
    namespace area_coverage
    {
      class GAMS_EXPORT UniformRandomAreaCoverage : public BaseAreaCoverage
      {
      public:
        UniformRandomAreaCoverage(
          const std::string& search_area_id,
          double e_time,
          madara::knowledge::KnowledgeBase * knowledge = 0,
          platforms::BasePlatform * platform = 0,
          variables::Sensors * sensors = 0,
          variables::Self * self = 0,
          variables::Agents * agents = 0);
  
        ~UniformRandomAreaCoverage();
  
        void operator=(const UniformRandomAreaCoverage & rhs);
        
      protected:
        virtual void generate_new_position(void);
 
        pose::Region region_;
      };
 
      class GAMS_EXPORT UniformRandomAreaCoverageFactory
        : 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);
      };
    } // namespace area_coverage
  } // namespace algorithms
} // namespace gams
 
#endif // _GAMS_ALGORITHMS_AREA_COVERAGE_UNIFORM_RANDOM_AREA_COVERAGE_H_