PrioritizedMinTimeAreaCoverage.h

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#ifndef _GAMS_ALGORITHMS_AREA_COVERAGE_PRIORITIZED_MIN_TIME_AREA_COVERAGE_H_
#define _GAMS_ALGORITHMS_AREA_COVERAGE_PRIORITIZED_MIN_TIME_AREA_COVERAGE_H_

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

#include <string>
#include <set>

#include "madara/knowledge/KnowledgeUpdateSettings.h"
#include "gams/algorithms/AlgorithmFactory.h"

namespace gams
{
  namespace algorithms
  {
    namespace area_coverage
    {
      class GAMS_EXPORT PrioritizedMinTimeAreaCoverage : 
        public MinTimeAreaCoverage
      {
      public:
        PrioritizedMinTimeAreaCoverage (
          const std::string& search_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,
          const std::string& algo_name = "pmtac");

        void operator= (const PrioritizedMinTimeAreaCoverage & rhs);
  
      protected:
        virtual double get_utility (const utility::Position& start,
          const utility::Position& end, std::set<utility::Position>& online);
      }; // class PrioritizedMinTimeAreaCoverage

      class GAMS_EXPORT PrioritizedMinTimeAreaCoverageFactory
        : 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_PRIORITIZED_MIN_TIME_AREA_COVERAGE_H_