SearchArea.h

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#include "ReferenceFrame.h"

#ifndef  _GAMS_UTILITY_SEARCH_AREA_H_
#define  _GAMS_UTILITY_SEARCH_AREA_H_

#include <vector>
#include <string>

#include "gams/pose/PrioritizedRegion.h"

namespace gams
{
  namespace pose
  {
    class GAMS_EXPORT SearchArea : public utility::Containerize
    {
    public:
      SearchArea ();

      SearchArea (const PrioritizedRegion& region, 
        const std::string& name = "");

      SearchArea (const std::vector<PrioritizedRegion>& regions,
        const std::string& name = "");

      ~SearchArea ();

      bool operator== (const SearchArea& rhs) const;

      bool operator!= (const SearchArea& rhs) const;

      void operator= (const SearchArea & rhs);

      void add_prioritized_region (const PrioritizedRegion& r);

      Region get_convex_hull () const;

      const std::vector<PrioritizedRegion>& get_regions () const;

      madara::knowledge::KnowledgeRecord::Integer get_priority (const Position& pos) const;
      
      bool contains (const Position& p) const;
      
      std::string to_string () const;

      double min_lat_, max_lat_;
      double min_lon_, max_lon_;
      double min_alt_, max_alt_;

    protected:
      void calculate_bounding_box ();

      double cross (const Position& gp1, const Position& gp2, 
        const Position& gp3) const;

      std::vector<PrioritizedRegion> regions_;

    private:
      virtual bool check_valid_type (madara::knowledge::KnowledgeBase& kb,
        const std::string& name) const;

      virtual void to_container_impl (
        madara::knowledge::KnowledgeBase& kb, 
        const std::string& name);

      virtual bool from_container_impl (
        madara::knowledge::KnowledgeBase& kb, 
        const std::string& name);
    }; // class SearchArea
  } // namespace utility
} // namespace gams

#include "SearchArea.inl"

#endif // _GAMS_UTILITY_SEARCH_AREA_H_