Move.h

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#ifndef   _GAMS_ALGORITHMS_MOVE_H_
#define   _GAMS_ALGORITHMS_MOVE_H_

#include "gams/algorithms/BaseAlgorithm.h"

#include <string>

#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/pose/Position.h"
#include "gams/algorithms/AlgorithmFactory.h"
#include "madara/utility/EpochEnforcer.h"

#include "gams/GamsExport.h"

namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT Move : public BaseAlgorithm
    {
    public:
      Move (
        const std::vector <pose::Pose> & locations,
        int repeat,
        double wait_time,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0,
        variables::Agents * agents = 0);

      ~Move ();

      void operator= (const Move & rhs);
      
      virtual int analyze (void);
      
      virtual int execute (void);

      virtual int plan (void);
      
    protected:

      std::vector <pose::Pose> poses_;

      int repeat_;

      size_t move_index_;

      int cycles_;

      std::string frame_;

      double wait_time_;

      bool waiting_;

      bool finished_moving_;

      madara::utility::EpochEnforcer<std::chrono::steady_clock> enforcer_;
    };

    class GAMS_EXPORT MoveFactory : 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_MOVE_H_