FormationSync.h

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#ifndef _GAMS_ALGORITHMS_FORMATION_SYNC_H_
#define _GAMS_ALGORITHMS_FORMATION_SYNC_H_

#include <vector>
#include <string>

#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/algorithms/AlgorithmFactory.h"
#include "madara/knowledge/containers/Integer.h"
#include "madara/knowledge/containers/Barrier.h"
#include "gams/groups/GroupFactoryRepository.h"

namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT FormationSync : public BaseAlgorithm
    {
    public:

      enum FormationTypes
      {
        PYRAMID,
        TRIANGLE,
        RECTANGLE,
        CIRCLE,
        LINE,
        WING
      };

      FormationSync (
        pose::Position & start,
        pose::Position & end,
        const std::string & group,
        double buffer,
        int formation,
        const std::string & barrier_name,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0);

      ~FormationSync ();

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

      virtual int plan (void);
      
    protected:
      void generate_plan (int formation);

      pose::Position generate_position (pose::Position reference,
        double angle, double distance);

      pose::Position start_;

      pose::Position end_;

      groups::GroupFactoryRepository group_factory_;

      groups::GroupBase * group_;

      groups::AgentVector group_members_;

      double buffer_;

      std::vector <pose::Position> plan_;

      int formation_;

      int position_;

      int move_pivot_;

      madara::knowledge::containers::Barrier barrier_;
    };
    
    class GAMS_EXPORT FormationSyncFactory : 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_SYNC_H_