BaseAreaCoverage.h

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#ifndef _GAMS_ALGORITHMS_AREA_COVERAGE_BASE_AREA_COVERAGE_H_
#define _GAMS_ALGORITHMS_AREA_COVERAGE_BASE_AREA_COVERAGE_H_

#include "gams/algorithms/BaseAlgorithm.h"

#include "gams/utility/GPSPosition.h"

#include "madara/utility/Utility.h"
#include "madara/utility/EpochEnforcer.h"

namespace gams
{
  namespace algorithms
  {
    namespace area_coverage
    {
      class GAMS_EXPORT BaseAreaCoverage : public BaseAlgorithm
      {
      public:
        BaseAreaCoverage (
          madara::knowledge::KnowledgeBase * knowledge = 0,
          platforms::BasePlatform * platform = 0,
          variables::Sensors * sensors = 0,
          variables::Self * self = 0,
          variables::Agents * agents = 0,
          double e_time = -1.0);
  
        virtual ~BaseAreaCoverage ();
  
        void operator= (const BaseAreaCoverage& rhs);
        
        virtual int analyze (void);
        
        virtual int execute (void);
  
        virtual int plan (void);

        utility::GPSPosition get_next_position (void) const;

      protected:
        virtual void generate_new_position (void) = 0;

        int check_if_finished (int ret_val) const;

        utility::GPSPosition next_position_;

        bool initialized_;

        double max_time_;

        madara::utility::EpochEnforcer<std::chrono::steady_clock> enforcer_;
      };
    } // namespace area_coverage
  } // namespace algorithms
} // namespace gams

#endif // _GAMS_ALGORITHMS_AREA_COVERAGE_BASE_AREA_COVERAGE_H_