Follow.h

Go to the documentation of this file.

#ifndef   _GAMS_ALGORITHMS_FOLLOW_H_
#define   _GAMS_ALGORITHMS_FOLLOW_H_

#include <queue>

#include "gams/algorithms/BaseAlgorithm.h"
#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"
#include "gams/pose/CartesianFrame.h"

namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT Follow : public BaseAlgorithm
    {
    public:
      Follow (
        const std::string & target,
        const std::vector <double> & offset,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0);
      
      ~Follow ();

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

      virtual int plan (void);
      
    protected:
      variables::Agent target_;

      pose::Position target_location_;

      pose::Position target_destination_;

      pose::Position last_target_destination_;

      pose::Position last_location_;

      pose::Position target_last_location_;

      pose::Orientation target_orientation_;

      std::vector <double> offset_;

      std::vector <double> minimum_buffer_;

      bool need_move_;

      bool had_valid_dest_orientation_;

      gams::pose::Orientation last_dest_orientation;
    };

    class GAMS_EXPORT FollowFactory : 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_FOLLOW_H_