include/architecture/reactive/reactiveGauss.h

#ifndef __REACTIVE___GAUSS___
#define __REACTIVE___GAUSS___

#include "binMap.h"
#include "gridMapInterface.h"
#include "localPotentialField.h"
#include "reactive.h"
#include "ConfigFile.h"

/**
* @brief Reactive behaviours modelled as a sum of gaussians
*
*/

class reactiveGauss : public reactive{

private:

        pose currentPos;
        bool useesz;
        int eszdilationradius;
        int actionradius;

        int setup();
        void onStop();
        void execute();
        ClMutex closing;
        bool endReactive;

        point goal;

        const int lzwidth;
        const int lzheight;
        
        localPotentialField total;
        speed velo;

        pointf update ();

        void processOMap(point& cell, gridMapInterface& omap, binMap& esz, localPotentialField& avObs, localPotentialField& goFro, localPotentialField& goUZ);
        void processGoPre(point& poscell, binMap& ppmap, binMap&  esz, localPotentialField& goPre);
        void processGoGoal(point& pos, point& goal, binMap& esz, localPotentialField& goGoal);
        void processAvRob(int numrobots, point* robotcells, binMap& esz, localPotentialField& avRob);

        void updateField (localPotentialField& global);
        
public:

        reactiveGauss(const ConfigFile& conf);
        virtual ~reactiveGauss();

        void setGoal(point goal);


};

#endif