ugv_random_walk.h

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#ifndef UGV_RANDOM_WALK_H
#define UGV_RANDOM_WALK_H

#include <random_numbers/random_numbers.h>
#include "cpswarm_msgs/ClosestBound.h"
#include "cpswarm_msgs/GetSector.h"
#include "position.h"

using namespace std;
using namespace ros;

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

class ugv_random_walk
{
public:
    ugv_random_walk ();

    ~ugv_random_walk ();

    behavior_state_t step();

    void stop ();

private:
    bool new_direction ();

    bool reflect ();

    geometry_msgs::Pose select_goal ();

    ServiceClient bound_client;

    ServiceClient clear_sector_client;

    position pos;

    double step_size;

    double direction;

    random_numbers::RandomNumberGenerator* rng;
};

#endif // UGV_RANDOM_WALK_H