closest_tracking_strategy.h

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#pragma once

#include "aerial_autonomy/trackers/tracking_strategy.h"

class ClosestTrackingStrategy : public TrackingStrategy {
public:
  ClosestTrackingStrategy(uint32_t max_tracking_retries = 20)
      : tracking_locked_(false), max_tracking_retries_(max_tracking_retries),
        tracking_retries_(0) {}
  virtual bool
  initialize(const std::unordered_map<uint32_t, Position> &tracking_vectors);
  virtual bool getTrackingVector(
      const std::unordered_map<uint32_t, Position> &tracking_vectors,
      std::tuple<uint32_t, Position> &tracking_vector);

private:
  bool
  getClosest(const std::unordered_map<uint32_t, Position> &tracking_vectors,
             std::tuple<uint32_t, Position> &tracking_vector);

  uint32_t tracked_id_;
  bool tracking_locked_;
  const uint32_t max_tracking_retries_;
  uint32_t tracking_retries_;
  std::tuple<uint32_t, Position> last_tracking_vector_;
};