strategy.h

strategy.h

//===================================
// include guard (safety measure)
#ifndef STRATEGY_H // if not defined
#define STRATEGY_H // define

//===================================
// forward declared dependencies
class Detection;
class Movement;

//===================================
// included dependencies
#include <iostream>
#include <emc/io.h>		// embedded motion control package
#include <emc/rate.h>
#include <ctime>
#include <string>
#include <unistd.h>
#include <stdlib.h>
#include <cmath>		// math operation such as sqrt(),cos()
#include <math.h>		// more math

#include "picomath.h"

//===================================
// the actual class
class Strategy {
private:
    int status;     // indicating the status of the strategy subsystem:
                    // 0: not activated;
                    // 1: strategy is activated, a corner is being taken

    Situation detection_situation; // situation info as sent by detection

    int movtype;    // movement type to be used by movement
    bool DoorFound; // Indicates if a door has already been found in the maze;

    int fn;
    int start;
    int sit;
    int command;
    
    int choice;
    int choicel;
    int choicer;
    int choices;
    
    double inf;
    double dinstancetosit;

    Point A;
    Point goal;
    Point angle_odom;

    std::vector<Point> corners;
    std::vector<int> history;

public:
// coordinators/composers
    // runs basic strategy, with basic memory
    void strategy(emc::IO &io, emc::LaserData scan, emc::OdometryData odom, Detection &det, Movement &mov);//, Movement &mov);

// monitors
    int monitor();

// configurators
    void configurator();

// class entities
    // constructors
    Strategy();            // default values

    // getters (able to get values of the private variables of this class)
    std::vector<Point> getTrajectory();
    Point getPoint();
    int getMovementType();
    int getHomingType();

    // setters (able to set values to the private variables of this class)
};

#endif // CONVERT_H