PerimeterPatrolCoverage.h

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#ifndef _GAMS_ALGORITHMS_AREA_COVERAGE_PERIMETER_PATROL_H_
#define _GAMS_ALGORITHMS_AREA_COVERAGE_PERIMETER_PATROL_H_

#include "gams/algorithms/area_coverage/BaseAreaCoverage.h"

#include <string>
#include <vector>

#include "gams/variables/Sensor.h"
#include "gams/platforms/BasePlatform.h"
#include "gams/variables/AlgorithmStatus.h"
#include "gams/variables/Self.h"
#include "gams/algorithms/AlgorithmFactory.h"

namespace gams
{
  namespace algorithms
  {
    namespace area_coverage
    {
      class GAMS_EXPORT PerimeterPatrolCoverage : public BaseAreaCoverage
      {
      public:
        PerimeterPatrolCoverage (
          const std::string& region_id,
          double e_time,
          madara::knowledge::KnowledgeBase * knowledge = 0,
          platforms::BasePlatform * platform = 0,
          variables::Sensors * sensors = 0,
          variables::Self * self = 0,
          variables::Agents * agents = 0);
  
        ~PerimeterPatrolCoverage ();
  
        void operator= (const PerimeterPatrolCoverage & rhs);
        
      protected:
        virtual void generate_new_position (void);
        
        void generate_positions (void);

        std::vector<utility::GPSPosition> waypoints_;
  
        unsigned int cur_waypoint_;

        std::string region_id_;
      }; // class PerimeterPatrolCoverage
      
      class GAMS_EXPORT PerimeterPatrolCoverageFactory
        : 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);
      };
    } // namespace area_coverage
  } // namespace algorithms
} // namespace gams

#endif // _GAMS_ALGORITHMS_AREA_COVERAGE_PERIMETER_PATROL_H_