include/architecture/planner/CoordinatedPlanner.h

/**
*
* Author: Miguel Julia <mjulia@umh.es> 
* 
* Date:   2009
* 
* Class CoordinatedPlanner
*
*
*/
#pragma once
#ifndef __COORDINATED__PLANNER__
#define __COORDINATED__PLANNER__

#include <iostream>
#include <stdlib.h>
#include "ClThread.h"
#include "stepEvent.h"
#include "slamInterface.h"
#include "reactive.h"
#include "planner.h"
#include "pathPlanning.h"
#include "ConfigFile.h"

/**
*
* @brief Implements an exploration algorithm that chooses its target cell using a cost-utility model
*
* Value = Utility - Cost
* 
* Utility: is a function to the distance to the cells assigned to the other robots
*
* Cost: is the length of the path to arrive to the cell
*
* The target frontier cell that maximizes the value is chosen
*/

class CoordinatedPlanner: public planner{

///////////////////////////////////////////////////////////////////////
//-------------------------  Attributes  ------------------------------
///////////////////////////////////////////////////////////////////////

private: 

        ClMutex closing;                                // Mutex for a right stopping of the thread
        bool endPlanner;                                // Flag that indicates that the thread must conclude in the next iteration 
        bool showPlanner;                               // Flag that indicates if the planning figure must be displayed
        bool completedPath;                             // Flag to set when path is finished
        std::vector<point> path;                        // planned path

        point* destinations;                            // destinations selected by other robots

        // parameters
        float replanning_period;
        int inflate_obstacles;
        float influence_radius;

//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  ---------------------------------
///////////////////////////////////////////////////////////////////////

public:

        /// Constructor
        CoordinatedPlanner(const ConfigFile& config);
        /// Destructor
        virtual ~CoordinatedPlanner();

private:

        /// Thread setup
        int setup();                                    
        /// Thread on stop
        void onStop();  
        /// Thead execution body                                
        void execute();                                 

//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////

};

#endif