Program Listing for File interaction_probability.hpp

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#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <vector>

#include "rcppsw/math/radians.hpp"
#include "rcppsw/spatial/euclidean_dist.hpp"
#include "rcppsw/math/expression.hpp"
#include "rcppsw/math/vector2.hpp"

#include "cosm/cosm.hpp"
#include "cosm/apf2D/boid_vector.hpp"

/*******************************************************************************
 * Namespaces/Decls
 ******************************************************************************/
namespace cosm::flocking {

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class interaction_probability : public rer::client<interaction_probability>,
                                public rmath::expression<double> {
 public:
  interaction_probability(const rmath::radians& theta_max,
                          const rspatial::euclidean_dist& mean_interaction_dist);


  double operator()(const capf2D::boid* self,
                    size_t other_idx,
                    const std::vector<ckin::odometry>& others);

  /* Not move/copy constructable/assignable by default */
  interaction_probability(const interaction_probability&) = delete;
  interaction_probability& operator=(const interaction_probability&) = delete;
  interaction_probability(interaction_probability&&) = delete;
  interaction_probability& operator=(interaction_probability&&) = delete;

 private:
  double calc_for_agent(const capf2D::boid* self, const ckin::odometry& other);

  /* clang-format off */
  const rmath::radians           mc_theta_max;
  const rspatial::euclidean_dist mc_mean_interaction_dist;
  /* clang-format on */
};

} /* namespace cosm::flocking */