ZoneCoverage.h

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#ifndef _GAMS_ALGORITHMS_ZONE_COVERAGE_H_
#define _GAMS_ALGORITHMS_ZONE_COVERAGE_H_

#include <vector>
#include <string>

#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/pose/Position.h"
#include "gams/algorithms/AlgorithmFactory.h"
#include "madara/knowledge/containers/Integer.h"
#include "madara/knowledge/containers/Barrier.h"
#include "gams/groups/GroupFactoryRepository.h"

namespace gams
{
  namespace algorithms
  {
    class GAMS_EXPORT ZoneCoverage : public BaseAlgorithm
    {
    public:

      ZoneCoverage (
        const std::string &protectors,
        const std::string &assets,
        const std::string &enemies,
        const std::string &formation,
        double buffer, double distance,
        madara::knowledge::KnowledgeBase * knowledge = 0,
        platforms::BasePlatform * platform = 0,
        variables::Sensors * sensors = 0,
        variables::Self * self = 0);

      ~ZoneCoverage ();

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

      virtual int plan (void);
      
    protected:
      groups::GroupFactoryRepository group_factory_;

      std::string frame_;

      gams::groups::GroupBase * protectors_;
      gams::groups::GroupBase * assets_;
      gams::groups::GroupBase * enemies_;

      gams::groups::AgentVector protectors_members_;
      gams::groups::AgentVector assets_members_;
      gams::groups::AgentVector enemies_members_;

      std::string formation_;

      double buffer_;

      double distance_;

      int index_;

      typedef pose::Position (ZoneCoverage::*formation_func) () const;

      formation_func form_func_;

      pose::Position line_formation () const;
      pose::Position arc_formation () const;
      pose::Position onion_formation () const;

      static formation_func get_form_func (const std::string &form_name);

      typedef std::vector<madara::knowledge::containers::NativeDoubleArray> MadaraArrayVec;

      MadaraArrayVec asset_loc_cont_;
      MadaraArrayVec enemy_loc_cont_;

      std::vector<pose::Position> asset_locs_;
      std::vector<pose::Position> enemy_locs_;
      pose::Position next_loc_;

    private:
      void update_arrays (const gams::groups::AgentVector &names,
                         MadaraArrayVec &arrays) const;
      void update_locs (const MadaraArrayVec &arrays,
                       std::vector<pose::Position> &locs) const;
    };
    
    class GAMS_EXPORT ZoneCoverageFactory : 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_FORMATION_SYNC_H_