ROSAgent.h

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#include<vector>
#include <sstream>

#include "ros/ros.h"
#include "ORCAAgent.h"
#include "Const.h"
#include "ORCAStar/Init.h"
#include "ORCAStar/ORCAInput.h"
#include "geometry_msgs/Point32.h"
#include "nav_msgs/OccupancyGrid.h"
#include "nav_msgs/GetMap.h"

#ifndef ROSAGENT_H
#define ROSAGENT_H

class ROSAgent
{

public:

    ROSAgent() = default;

    ROSAgent(size_t id);

    ~ROSAgent() = default;


    void DoStep(const ORCAStar::ORCAInput &msg);


private:
    size_t agentId; 
    ORCAAgent *agent; 
    std::vector<Agent *> neighbous; 


    ros::NodeHandle n; 
    ros::Publisher ROSAgentPub; 
    ros::Subscriber ROSAgentSub; 

    EnvironmentOptions *options; 
    AgentParam *param; 
    Map *map; 




};

#endif // ROSAGENT_H