Program Listing for File goal_acq_metrics.hpp

↰ Return to documentation for file (cosm/spatial/metrics/goal_acq_metrics.hpp)

#pragma once

/*******************************************************************************
 * Includes
 ******************************************************************************/
#include <utility>
#include <boost/optional.hpp>

#include "rcppsw/metrics/base_metrics.hpp"
#include "rcppsw/math/vector3.hpp"
#include "rcppsw/types/named_type.hpp"
#include "rcppsw/types/type_uuid.hpp"

#include "cosm/cosm.hpp"

/*******************************************************************************
 * Namespaces
 ******************************************************************************/
namespace cosm::spatial::metrics {

/*******************************************************************************
 * Class Definitions
 ******************************************************************************/
class goal_acq_metrics : public virtual rmetrics::base_metrics {
 public:
  struct exp_status {
    bool is_exploring{false};
    bool is_true{false};
  };

  using goal_type = rtypes::named_type<int, struct goal_type_tag>;

  goal_acq_metrics(void) = default;
  ~goal_acq_metrics(void) override = default;

  virtual goal_type acquisition_goal(void) const = 0;

  virtual exp_status is_exploring_for_goal(void) const = 0;

  virtual bool is_vectoring_to_goal(void) const = 0;

  virtual bool goal_acquired(void) const = 0;

  virtual rtypes::type_uuid entity_acquired_id(void) const = 0;

  virtual boost::optional<rmath::vector3z> acquisition_loc3D(void) const = 0;

  virtual boost::optional<rmath::vector3z> explore_loc3D(void) const = 0;

  virtual boost::optional<rmath::vector3z> vector_loc3D(void) const = 0;
};

/*******************************************************************************
 * Operators
 ******************************************************************************/
template<typename TInt>
bool operator==(const TInt& other, const goal_acq_metrics::goal_type& goal) {
  return goal.v() == other;
}

template<typename TInt>
bool operator!=(const TInt& other, const goal_acq_metrics::goal_type& goal) {
  return goal.v() != other;
}

} /* namespace cosm::spatial::metrics */