FormationCoverage.h

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#ifndef _GAMS_ALGORITHMS_FORMATION_COVERAGE_H_
#define _GAMS_ALGORITHMS_FORMATION_COVERAGE_H_

#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/algorithms/FormationFlying.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/algorithms/BaseAlgorithm.h"
#include "gams/algorithms/area_coverage/BaseAreaCoverage.h"
#include "gams/utility/GPSPosition.h"
#include "gams/algorithms/AlgorithmFactory.h"

namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT FormationCoverage : public BaseAlgorithm
    {
    public:
      FormationCoverage (
        const std::string & head_id,
        const std::vector<double> & offset,
        const std::vector<double> & destination,
        const std::string & group_name,
        const std::string & modifier,
        const std::string & coverage,
        const madara::knowledge::KnowledgeMap & cover_args,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0);

      ~FormationCoverage ();

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

      virtual int plan (void);
      
    protected:
      area_coverage::BaseAreaCoverage* head_algo_;

      bool is_covering_;

      FormationFlying* my_formation_;

      madara::knowledge::containers::NativeDoubleArray head_destination_;
    };
    
    class GAMS_EXPORT FormationCoverageFactory : 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_COVERAGE_H_