uav_random_direction.h

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#ifndef UAV_RANDOM_DIRECTION_H
#define UAV_RANDOM_DIRECTION_H

#include <random_numbers/random_numbers.h>
#include <cpswarm_msgs/GetSector.h>
#include <cpswarm_msgs/GetPoints.h>
#include <position.h>

using namespace std;
using namespace ros;

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

class uav_random_direction
{
public:
    uav_random_direction (double altitude);

    ~uav_random_direction ();

    behavior_state_t step();

    void stop ();

private:
    bool select_goal ();

    bool new_direction ();

    ServiceClient area_client;

    ServiceClient clear_sector_client;

    position pos;

    double direction;

    geometry_msgs::Pose goal;

    random_numbers::RandomNumberGenerator* rng;

    double margin;
};

#endif // UAV_RANDOM_DIRECTION_H