Hold.h

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#ifndef   _GAMS_ALGORITHMS_HOLD_H_
#define   _GAMS_ALGORITHMS_HOLD_H_

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

namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT Hold : public BaseAlgorithm
    {
    public:
      Hold (
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0);

      ~Hold ();

      void operator= (const Hold & rhs);
      
      virtual int analyze (void);
      
      virtual int execute (void);

      virtual int plan (void);

    protected:
      gams::pose::Position location_;
      gams::pose::Orientation orientation_;

      bool pose_set_;

    };

    class GAMS_EXPORT HoldFactory : 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);
    };
  }
}

#endif // _GAMS_ALGORITHMS_HOLD_H_