/*****************************************************************/
/*    NAME: Michael Benjamin                                     */
/*    ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA     */
/*    FILE: AOF_AvoidCollision.h                                 */
/*    DATE: Febuary 9th, 2001 (CPA logic written)                */
/*                                                               */
/* This file is part of IvP Helm Core Libs                       */
/*                                                               */
/* IvP Helm Core Libs is free software: you can redistribute it  */
/* and/or modify it under the terms of the Lesser GNU General    */
/* Public License as published by the Free Software Foundation,  */
/* either version 3 of the License, or (at your option) any      */
/* later version.                                                */
/*                                                               */
/* IvP Helm Core Libs is distributed in the hope that it will    */
/* be useful but WITHOUT ANY WARRANTY; without even the implied  */
/* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR       */
/* PURPOSE. See the Lesser GNU General Public License for more   */
/* details.                                                      */
/*                                                               */
/* You should have received a copy of the Lesser GNU General     */
/* Public License along with MOOS-IvP.  If not, see              */
/* <http://www.gnu.org/licenses/>.                               */
/*****************************************************************/
 
#ifndef AOF_AVOID_COLLISION_HEADER
#define AOF_AVOID_COLLISION_HEADER

#include "AOF_Contact.h"
#include "CPAEngine.h"

class IvPDomain;
class AOF_AvoidCollision: public AOF_Contact {
 public:
  AOF_AvoidCollision(IvPDomain);
  ~AOF_AvoidCollision() {}

 public: // virtuals defined
  double evalBox(const IvPBox*) const;   
  bool   setParam(const std::string&, double);
  bool   initialize();
 public: // More virtuals defined Declare a known min/max eval range
  bool   minMaxKnown() const {return(true);}
  double getKnownMin() const {return(0);}
  double getKnownMax() const {return(m_max_util);}

  double evalROC(double osh, double osv) {
    return(m_cpa_engine.evalROC(osh, osv));
  }
      
 protected:
  double metric(double) const;
  
 protected:
  int    m_crs_ix;  // Index of "course" variable in IvPDomain
  int    m_spd_ix;  // Index of "speed" variable in IvPDomain

  double m_max_util;
};

#endif