SensorHelper.h

#pragma once

#include "CoordSet.h"
#include "K9.h"
#include "Node.h"
#include "Line.h"
#include "Graph.h"
#include "Map.h"
#include "Utilities.h"
#include <vector>

#define MAX_DISTANCE_BETWEEN_MEASUREMENTS 3
#define MAX_SIDEWAYS_DEVIATION 1

class SensorHelper{
public:
	SensorHelper(Sensor* sensor);
	~SensorHelper();

	void addSensorDeviationPoint(CoordSet beforeDeviationPoint, CoordSet deviationPoint);
	void addSensorFrontWall(CoordSet frontWallPos);
	bool analyze(); // Returns true if analysis can recognize a maze scenario
	static void calcMeasurementOperationFromOrientations(Direction sensorOrientation, Direction k9Orientation, bool& plusAxisX, bool& minusAxisX, bool& plusAxisY, bool& minusAxisY);

private:
	Sensor* sensor;

	std::vector<CoordSet> sensorDeviationPoints;

	bool frontWall;

protected:
	bool isSimplePath();
	bool isWideningPath();
};