include/architecture/planner/FrontierGreedyPlanner.h

/*
*
* Author: Miguel Julia <mjulia@umh.es> 
* 
* Date:   2009
* 
* Class FrontierGreedyPlanner
*

*
*/

#pragma once
#ifndef __FBG__PLANNER__
#define __FBG__PLANNER__

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

/**
* @brief Implements an exploration algorithm directing the robot to the nearest frontier cell
*
*/

class FrontierGreedyPlanner: public planner{

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

private:

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


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

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

public:

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

private:

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

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

};

#endif