MinTimeAreaCoverage.h

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#ifndef _GAMS_ALGORITHMS_AREA_COVERAGE_MIN_TIME_AREA_COVERAGE_H_
#define _GAMS_ALGORITHMS_AREA_COVERAGE_MIN_TIME_AREA_COVERAGE_H_

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

#include <map>
#include <set>
#include <string>

#include "madara/knowledge/KnowledgeUpdateSettings.h"

#include "gams/pose/SearchArea.h"
#include "gams/utility/GPSPosition.h"
#include "gams/algorithms/AlgorithmFactory.h"


namespace gams
{
  namespace algorithms
  {
    namespace area_coverage
    {
      class GAMS_EXPORT MinTimeAreaCoverage : public BaseAreaCoverage
      {
      public:
        MinTimeAreaCoverage (
          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 = "mtac");
  
        void operator= (const MinTimeAreaCoverage & rhs);

        virtual int analyze (void);

      protected:
        virtual void generate_new_position (void);
  
        virtual double get_utility (const utility::Position& start,
          const utility::Position& end, std::set<utility::Position>& online);

        virtual void review_last_move ();
  
        pose::SearchArea search_area_;
  
        variables::Sensor min_time_;
  
        std::set<utility::Position> valid_positions_;

        std::map<utility::Position, double> position_value_map_;

        unsigned int last_generation_;
      }; // class MinTimeAreaCoverage
      
      class GAMS_EXPORT MinTimeAreaCoverageFactory
        : 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_MIN_TIME_AREA_COVERAGE_H_