PrioritizedRegion.h

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#include "ReferenceFrame.h"

#ifndef  _GAMS_UTILITY_PRIORITIZED_REGION_H_
#define  _GAMS_UTILITY_PRIORITIZED_REGION_H_

#include <string>
#include <vector>

#include "gams/pose/Region.h"
#include "gams/pose/Position.h"

namespace gams
{
  namespace pose
  {
    class GAMS_EXPORT PrioritizedRegion : public Region
    {
    public:
      PrioritizedRegion (const std::vector <Position>& init_points =
        std::vector<Position> (), const unsigned int new_priority = 1, const std::string& name = "");

      PrioritizedRegion (const Region& region, const unsigned int new_priority = 1, const std::string& name = "");

      virtual ~PrioritizedRegion ();

      bool operator== (const PrioritizedRegion& rhs) const;

      bool operator!= (const PrioritizedRegion& rhs) const;

      std::string to_string (const std::string & delimiter = ":") const;

      void operator= (const PrioritizedRegion& rhs);

      madara::knowledge::KnowledgeRecord::Integer priority;

    private:
      virtual bool check_valid_type (madara::knowledge::KnowledgeBase& kb,
        const std::string& name) const;

      virtual void to_container_impl (
        madara::knowledge::KnowledgeBase& kb, 
        const std::string& name);

      virtual bool from_container_impl (
        madara::knowledge::KnowledgeBase& kb, 
        const std::string& name);
    }; // class PrioritizedRegion
  } // namespace utility
} // namespace gams

#endif // _GAMS_UTILITY_PRIORITIZED_REGION_H_