PerimeterPatrol.h

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#ifndef   _GAMS_ALGORITHMS_PERIMETER_PATROL_H_
#define   _GAMS_ALGORITHMS_PERIMETER_PATROL_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 "madara/utility/EpochEnforcer.h"
#include "gams/utility/Position.h"
#include "gams/algorithms/AlgorithmFactory.h"

namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT PerimeterPatrol : public BaseAlgorithm
    {
    public:
      PerimeterPatrol (
        const std::string & area,
        double max_time,
        bool counter,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0,
        variables::Agents * agents = 0);

      ~PerimeterPatrol ();

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

      virtual int plan (void);
      
    protected:

      void generate_locations (void);

      std::string area_;

      double max_time_;

      bool counter_;

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

      size_t move_index_;

      bool initialized_;

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

    class GAMS_EXPORT PerimeterPatrolFactory : 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_PERIMETER_PATROL_H_