/*****************************************************************/
/*    NAME: Michael Benjamin                                     */
/*    ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA     */
/*    FILE: IPF_Plot.h                                           */
/*    DATE: Feb 24th, 2007                                       */
/*                                                               */
/* This file is part of MOOS-IvP                                 */
/*                                                               */
/* MOOS-IvP is free software: you can redistribute it and/or     */
/* modify it under the terms of the GNU General Public License   */
/* as published by the Free Software Foundation, either version  */
/* 3 of the License, or (at your option) any later version.      */
/*                                                               */
/* MOOS-IvP 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 GNU General Public License for more details.              */
/*                                                               */
/* You should have received a copy of the GNU General Public     */
/* License along with MOOS-IvP.  If not, see                     */
/* <http://www.gnu.org/licenses/>.                               */
/*****************************************************************/

#ifndef IPF_PLOT_HEADER
#define IPF_PLOT_HEADER

#include <string>
#include <vector>
#include "IvPDomain.h"

class IPF_Plot
{
public:
  IPF_Plot() {m_vname="name-unknown"; m_source="src-unknown";}
  ~IPF_Plot() {}

  void   setVName(std::string s)   {m_vname  = s;}
  void   setSource(std::string s)  {m_source = s;}
  bool   addEntry(double timestamp, 
		  const std::string& ipf_str, 
		  unsigned int iteration, 
		  unsigned int piece_count,
		  double  priority,
		  IvPDomain domain);

  double getTimeByIndex(unsigned int) const;

  std::string getIPFByIndex(unsigned int) const;
  std::string getIPFByTime(double) const;
  std::string getIPFByHelmIteration(unsigned int) const;
  unsigned int getPcsByHelmIteration(unsigned int) const;
  double       getPwtByHelmIteration(unsigned int) const;
  IvPDomain    getDomainByHelmIter(unsigned int) const;
  unsigned int getHelmIterByTime(double) const;
  double       getTimeByHelmIter(unsigned int) const;

  std::string getSource() const {return(m_source);}
  std::string getVName()  const {return(m_vname);}

  void   applySkew(double);

  double getMinTime() const;
  double getMaxTime() const;
  int    size() const          {return(m_time_stamp.size());}
  void   print() const;

  void      setIvPDomain(IvPDomain dom) {m_ivp_domain = dom;}
  IvPDomain getIvPDomain() const  {return(m_ivp_domain);}

protected:
  unsigned int getIndexByTime(double) const;
  int getIndexByHelmIter(unsigned int) const;

protected:
  std::string              m_vname;       // Vehicle Name
  std::string              m_source;      // Vehicle Behavior

  // One entry for each BHV_IPF string. All entries should be from
  // the same vehicle and same behavior.
  std::vector<std::string>  m_ipf_string;  
  std::vector<double>       m_time_stamp; 
  std::vector<unsigned int> m_helm_iteration;
  std::vector<unsigned int> m_piece_count;
  std::vector<unsigned int> m_priority;
  std::vector<IvPDomain>    m_ivp_domain_iter;

  IvPDomain                 m_ivp_domain;
};

#endif