Region.h

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#include "ReferenceFrame.h"

#ifndef  _GAMS_UTILITY_REGION_H_
#define  _GAMS_UTILITY_REGION_H_

#include <vector>
#include <string>

#include "gams/GamsExport.h"
#include "madara/knowledge/containers/StringVector.h"

#include "gams/pose/Position.h"
#include "gams/pose/GPSFrame.h"
#include "gams/pose/CartesianFrame.h"

#include "gams/utility/Containerize.h"

namespace gams
{
  namespace pose
  {
    class GAMS_EXPORT Region : public utility::Containerize
    {
    public:
      Region (const std::vector <Position> & init_vertices = 
        std::vector<Position> (), unsigned int type = 0, 
        const std::string& name = "");

      virtual ~Region ();

      void operator= (const Region& rhs);

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

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

      std::string get_name () const;

      void set_name (const std::string& name);

      bool contains (const Position & position) const;

      double distance (const Position & position) const;

      Region get_bounding_box () const;

      double get_area () const;

      std::string to_string (const std::string & delimiter = ":") const;

      std::vector <Position> vertices;

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

    protected:
      void calculate_bounding_box ();

      unsigned int type_;

    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 Region
  } // namespace utility
} // namespace gams

#endif // _GAMS_UTILITY_REGION_H_