Sensor.h

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#ifndef   _GAMS_VARIABLES_SENSOR_H_
#define   _GAMS_VARIABLES_SENSOR_H_

#include <vector>
#include <map>
#include <string>

#include "gams/GamsExport.h"
#include "madara/knowledge/containers/Double.h"
#include "madara/knowledge/containers/Map.h"
#include "madara/knowledge/KnowledgeBase.h"

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

#include <set>
using std::set;

namespace gams
{
  namespace variables
  {
    class GAMS_EXPORT Sensor
    {
    public:
      Sensor ();

      Sensor (const std::string & name,
        madara::knowledge::KnowledgeBase * knowledge,
        const double & range = 0.0,
        const pose::Position & origin = pose::Position (pose::gps_frame(), DBL_MAX, DBL_MAX));

      ~Sensor ();

      void operator= (const Sensor & rhs);

      set<pose::Position> discretize (
        const pose::Region & region);

      set<pose::Position> discretize (
        const pose::SearchArea & area);
      
      double get_discretization () const;

      pose::Position get_gps_from_index (
        const pose::Position & index);

      pose::Position get_index_from_gps (
        const pose::Position & pos);

      std::string get_name () const;

      pose::Position get_origin();

      double get_range () const;

      double get_value (const pose::Position& pos);

      void set_origin (const pose::Position& origin);

      void set_range (const double& range);

      void set_value (const pose::Position& pos, const double& val,
        const madara::knowledge::KnowledgeUpdateSettings& settings =
          madara::knowledge::KnowledgeUpdateSettings());
      void init_vars (const std::string & name,
        madara::knowledge::KnowledgeBase* knowledge,
        const double & range = 0.0,
        const pose::Position & origin = pose::Position (pose::gps_frame(), DBL_MAX, DBL_MAX));

    protected:
      std::string index_pos_to_index (const pose::Position& pos) const;

      void regenerate_local_frame (void);

      void init_vars ();

      madara::knowledge::containers::Map value_;

      madara::knowledge::KnowledgeBase* knowledge_;

      madara::knowledge::containers::Double range_;

      std::string name_;

      madara::knowledge::containers::NativeDoubleArray origin_;

      pose::ReferenceFrame local_frame_;
    };

    typedef  std::map <std::string, Sensor*>   Sensors;

    typedef  std::vector <std::string>        SensorNames;
  }
}

#endif // _GAMS_VARIABLES_SENSOR_H_