Agent.h

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#include "Const.h"
#include "PathPlanner.h"
#include "ThetaStar.h"
#include "Geom.h"

#include <vector>
#include <cmath>
#include <algorithm>
#include <iostream>
#include <type_traits>
#include <cstddef>

#ifndef ORCA_AGENT_H
#define ORCA_AGENT_H


class AgentParam
{
    public:
        AgentParam() : sightRadius(CN_DEFAULT_RADIUS_OF_SIGHT), timeBoundary(CN_DEFAULT_TIME_BOUNDARY), timeBoundaryObst(CN_DEFAULT_OBS_TIME_BOUNDARY),
            radius(CN_DEFAULT_SIZE), rEps(CN_DEFAULT_REPS), maxSpeed(CN_DEFAULT_MAX_SPEED), agentsMaxNum(CN_DEFAULT_AGENTS_MAX_NUM) {}

        AgentParam(float sr, float tb, float tbo, float r, float reps, float ms, int amn) : sightRadius(sr), timeBoundary(tb), timeBoundaryObst(tbo), radius(r), rEps(reps),
            maxSpeed(ms), agentsMaxNum(amn) {}

        ~AgentParam() = default;

        float sightRadius;      
        float timeBoundary;     
        float timeBoundaryObst; 
        float radius;           
        float rEps;             
        float maxSpeed;         
        int agentsMaxNum;       
};


class Agent
{


    public:
        Agent();

        Agent(const int &id, const Point &start, const Point &goal, const Map &map, const EnvironmentOptions &options, AgentParam param);

        Agent(const Agent &obj);

        virtual ~Agent();

        virtual Agent* Clone() const = 0;

        virtual void ComputeNewVelocity() = 0;


        virtual void ApplyNewVelocity() = 0;

        virtual bool UpdatePrefVelocity() = 0;


        virtual void SetPosition(const Point &pos);

        virtual void AddNeighbour(Agent &neighbour, float distSq);

        virtual bool isFinished();

        virtual void SetVelocity(const Point &vel);

        bool InitPath();

        int GetID() const;

        Point GetPosition() const;

        Point GetVelocity() const;


        float GetRadius() const;

        Point GetNext() const;

        Point GetStart() const;

        Point GetGoal() const;

        AgentParam GetParam() const;

        std::pair<unsigned int, unsigned int> GetCollision() const;

        void UpdateNeighbourObst();

        bool operator == (const Agent &another) const;

        bool operator != (const Agent &another) const;

        Agent & operator = (const Agent& obj);

        template <class Planner> void SetPlanner(const Planner &pl)
        {
            static_assert(std::is_base_of<PathPlanner, Planner>::value, "Planner should be inheritor of PathPlanner");
            this->planner = new Planner(pl);
        }


    protected:

        int id;
        Point start;
        Point goal;
        PathPlanner *planner;
        const EnvironmentOptions *options;
        const Map *map;
        std::vector <std::pair<float, Agent*>> Neighbours;
        std::vector <std::pair<float, ObstacleSegment>> NeighboursObst;

        std::vector <Line> ORCALines;

        Point position;
        Velocity prefV;
        Velocity newV;
        Velocity currV;

        AgentParam param;
        float invTimeBoundaryObst;
        float invTimeBoundary;
        float maxSqObstDist;

        unsigned int collisions;
        unsigned int collisionsObst;

        Point nextForLog;
};





#endif //ORCA_AGENT_H