PriorityWeightedRandomAreaCoverage.h

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#ifndef _GAMS_ALGORITHMS_AREA_COVERAGE_PRIORITY_WEIGHTED_RANDOM_AREA_COVERAGE_H_
#define _GAMS_ALGORITHMS_AREA_COVERAGE_PRIORITY_WEIGHTED_RANDOM_AREA_COVERAGE_H_

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

#include <vector>

#include "gams/pose/SearchArea.h"

namespace gams
{
  namespace algorithms
  {
    namespace area_coverage
    {
      class GAMS_EXPORT PriorityWeightedRandomAreaCoverage : public BaseAreaCoverage
      {
      public:
        PriorityWeightedRandomAreaCoverage (
          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);
  
        void operator= (const PriorityWeightedRandomAreaCoverage & rhs);
        
      protected:
        void generate_new_position (void);
  
        pose::SearchArea search_area_;
  
        std::vector<double> priority_total_by_region_;
  
        double total_priority_;
      }; // class PriorityWeightedAreaCoverage

      class GAMS_EXPORT PriorityWeightedRandomAreaCoverageFactory
        : 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_PRIORITY_WEIGHTED_RANDOM_AREA_COVERAGE_H_