uav_local_coverage.h

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#ifndef UAV_LOCAL_COVERAGE_H
#define UAV_LOCAL_COVERAGE_H

#include <position.h>

using namespace std;
using namespace ros;

typedef enum {
    STATE_ACTIVE = 0,
    STATE_SUCCEEDED,
    STATE_ABORTED
} behavior_state_t;

class uav_local_coverage
{
public:
    uav_local_coverage(double altitude);

    behavior_state_t step();

    void stop ();

private:
    void compute_involute (double &distance, double &direction);

    geometry_msgs::Pose select_goal ();

    position pos;

    double altitude;

    double fov_hor;

    double fov_ver;

    geometry_msgs::Pose origin;

    unsigned int steps;

    int max_steps;


};

#endif // UAV_LOCAL_COVERAGE_H