Agent.h

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/*
 * Copyright (c) 2012, Daniel Claes, Maastricht University
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Maastricht University nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */



#ifndef AGENT_H
#define AGENT_H

#include "collvoid_local_planner/Utils.h"
#include "collvoid_local_planner/clearpath.h"

#include <boost/shared_ptr.hpp>

namespace collvoid{
   
  class Agent{
  public:
    
    //    Agent(){};
    virtual ~Agent(){};
    
    void computeOrcaVelocity(Vector2 pref_velocity, bool convex);

    void computeClearpathVelocity(Vector2 pref_velocity);
    void computeSampledVelocity(Vector2 pref_velocity);

    
    void computeAgentVOs();
    
    void setLeftPref(double left_pref);
    void setRadius(double radius);
    void setTruncTime(double trunc_time);
    void setSimPeriod(double sim_period);

    double getRadius();
    collvoid::Vector2 getPosition();
    collvoid::Vector2 getVelocity();

    
    //config
    double left_pref_;  

    bool use_truncation_;
    double trunc_time_;
    double timestep_, sim_period_;

    bool controlled_;
    
    bool orca_; // Orca or VO?
    bool convex_; // circle approx, or mink sum?

    //VO settings
    bool clearpath_; //Clearpath or sampling based
    int type_vo_; //0 = HRVO, 1 = RVO , 2 = VO
   
    //description
    Vector2 position_;
    double heading_;
    Vector2 velocity_;

    double radius_;

    std::vector<Vector2> footprint_;
  


    Vector2 new_velocity_;
   
    
    //nh stuff
    double cur_allowed_error_;

    //Orca
    double max_speed_x_;
    std::vector<Line> orca_lines_, additional_orca_lines_;

    //VO stuff
    std::vector<VO> vo_agents_, additional_vos_;
    std::vector<VelocitySample> samples_;
   

    
    std::vector<boost::shared_ptr<Agent> > agent_neighbors_;

    
  };

  typedef boost::shared_ptr<Agent> AgentPtr;
  

}

#endif