FormationFlying.h

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#ifndef   _GAMS_ALGORITHMS_FORMATION_FLYING_H_
#define   _GAMS_ALGORITHMS_FORMATION_FLYING_H_
 
#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/pose/Position.h"
#include "gams/algorithms/AlgorithmFactory.h"
#include "gams/groups/GroupFactoryRepository.h"
 
namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT FormationFlying : public BaseAlgorithm
    {
    public:
      FormationFlying(
        const std::string & head_id,
        const std::vector<double> & offset,
        const std::vector<double> & destination,
        const std::string & group_name,
        const std::string & modifier,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0);
 
      ~FormationFlying();
 
      void operator=(const FormationFlying & rhs);
      
      virtual int analyze(void);
      
      virtual int execute(void);
 
      virtual int plan(void);
 
      bool is_head() const;
 
      bool is_ready() const;
      
    protected:
      pose::Position get_destination() const;
 
      struct Compiled
      {
#ifndef _MADARA_NO_KARL_
        madara::knowledge::CompiledExpression ref;
#endif
        std::string agent;
      };
      std::vector<Compiled> compiled_formation_;
 
      madara::knowledge::containers::Integer formation_ready_;
 
      bool head_;
 
      int head_id_;
 
      madara::knowledge::containers::NativeDoubleArray head_location_;
 
      madara::knowledge::containers::NativeDoubleArray head_destination_;
 
      pose::Position destination_;
 
      madara::knowledge::containers::Integer in_formation_;
 
      enum
      {
        NONE,
        ROTATE
      } modifier_;
 
      bool need_to_move_;
 
      pose::Position next_position_;
 
      unsigned int num_agents_;
 
      double phi_;
 
      double phi_dir_;
 
      double rho_;
 
      variables::SensorNames sensor_names_;
 
      double z_;
    };
    
    class GAMS_EXPORT FormationFlyingFactory : 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_FORMATION_FLYING_H_