Follow.h

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#ifndef   _GAMS_ALGORITHMS_FOLLOW_H_
#define   _GAMS_ALGORITHMS_FOLLOW_H_
 
#include <queue>
 
#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"
 
namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT Follow : public BaseAlgorithm
    {
    public:
      Follow(
        const std::string & target,
        const std::vector <double> & offset,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0);
      
      ~Follow();
 
      void operator=(const Follow & rhs);
      
      virtual int analyze(void);
      
      virtual int execute(void);
 
      virtual int plan(void);
      
    protected:
      variables::Agent target_;
 
      pose::Position target_location_;
 
      pose::Position target_destination_;
 
      pose::Position last_target_destination_;
 
      pose::Position last_location_;
 
      pose::Position target_last_location_;
 
      pose::Orientation target_orientation_;
 
      std::vector <double> offset_;
 
      std::vector <double> minimum_buffer_;
 
      bool need_move_;
 
      bool had_valid_dest_orientation_;
 
      gams::pose::Orientation last_dest_orientation;
    };
 
    class GAMS_EXPORT FollowFactory : 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_FOLLOW_H_