//
// Created by bastian on 26.03.22.
//

#ifndef BUILD_GENERATEXYPOSE_H
#define BUILD_GENERATEXYPOSE_H

#include <behaviortree_cpp_v3/action_node.h>
#include "../Area.h"
#include <random>
#include <geometry_msgs/msg/pose.hpp>

namespace BT {

// This class cannot guarantee valid results with every polygon, triangles are assumed to be a valid triangle-strip.
    class GenerateXYPose : public SyncActionNode {

    private:
        double getArea(const std::shared_ptr<Area> &area, unsigned long id);
        Position2D getRandomPosInTriangle(const std::shared_ptr<Area> &area, unsigned long id);
        std::default_random_engine re = std::default_random_engine(random());
        std::uniform_real_distribution<double> dist = std::uniform_real_distribution<double>(0.0, 1.0);


    public:
        GenerateXYPose(const std::string &name, const NodeConfiguration &config);

        static PortsList providedPorts();

        NodeStatus tick() override;
    };
}

#endif //BUILD_GENERATEXYPOSE_H