uav_optimal_coverage.h

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#ifndef UAV_OPTIMAL_COVERAGE_H
#define UAV_OPTIMAL_COVERAGE_H

#include <geometry_msgs/Pose.h>
#include <cpswarm_msgs/GetWaypoint.h>
#include <position.h>
#include <velocity.h>

using namespace std;
using namespace ros;

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

class uav_optimal_coverage
{
public:
    uav_optimal_coverage ();

    ~uav_optimal_coverage ();

    behavior_state_t step ();

    void stop ();

private:
    ServiceClient wp_getter;

    geometry_msgs::Point waypoint;

    cpswarm_msgs::GetWaypoint get_wp;

    behavior_state_t state;

    position pos;

    velocity vel;

    double target_velocity;

    double tolerance;

};

#endif // UAV_OPTIMAL_COVERAGE_H