C:/cmcintos/defOrgs/source/behavioral/Beh_SearchForObject.cxx

#ifndef _Beh_SearchForObject_txx
#define _Beh_SearchForObject_txx

#include "Beh_SearchForObject.h"

namespace mial {

        template<class Type, class TInputImage, int nDims>
        Beh_SearchForObject<Type,TInputImage,nDims>::Beh_SearchForObject()
                :Behavior<Type,nDims>("Beh_SearchForObject")
        {
                //Default constructor
                srand ( time(NULL) );
                avgIntensitySensor = AvgIntensitySensorType::New();
                translateBehavior = TranslateBehaviorType::New();
                scaleBehavior = ScaleBehaviorType::New();

                startTime =0;
                endTime =0;
                found = false;
        }
        template<class Type, class TInputImage, int nDims>
        bool Beh_SearchForObject<Type,TInputImage,nDims>::run(typename Behavior<Type,nDims>::behaviorIn * i,std::stringstream *s)
        {

                typename behaviorIn::Pointer in;
                //TODO: Make sure the null works.
                if(i != NULL && s != NULL)
                {
                        Error e;
                        e.msg = "Only one of struct or stream input may be provided.";
                        e.name = "Beh_SearchForObject";
                        throw e;
                }
                else if(i != NULL)
                        in = reinterpret_cast<behaviorIn *>(i); //Typecast the input to its desired form
                else if( s!= NULL)
                {
                        in = behaviorIn::New();
                        in->fillFromStream(*s);//in = &behaviorIn(*(reinterpret_cast<std::istream *>(s)));
                }
                else
                {
                        Error e;
                        e.msg = "Either struct or stream input must be provided.";
                        e.name = "Beh_SearchForObject";
                        throw e;
                }

                input = in;
                startTime = this->physLayer->getTime();
                endTime = startTime+in->duration;
                
                //TODO, make part of base class (set for all subbehaviors)
                this->translateBehavior->setPhysLayer(this->physLayer);
                scaleBehavior->setPhysLayer(this->physLayer);

                if(!(this->isFinished()))
                {
                        //Get current location
                        VectorType dir = in->translateLoc - geomLayer->getCentroid();
                        dir.normalize();

                        //Translate to new location
                        //TODO: fix amplitude
                        this->translate(dir);
                }
                else
                {
                        if(scaleBehavior->isFinished())
                                this->scale();
                }


                return false;
        }
        template<class Type, class TInputImage, int nDims>
        bool Beh_SearchForObject<Type,TInputImage,nDims>::update()
        { 
                VectorType dir = VectorType(nDims);
                if(!this->isFinished())
                {//Keep searching
                        if(!found)
                        {
                                if(translateBehavior->isFinished())
                                {
                                        for(int i=0;i<nDims;i++)
                                                dir.put(i,rand()-0.5);
                                        dir.normalize();
                                        this->translate(dir);
                                }
                        }
                        else
                        {
                                std::cout << "Intensity level located." << std::endl;
                                if(scaleBehavior->isFinished())
                                        this->scale();

                        }
                }
                return false;
        }
        template<class Type, class TInputImage, int nDims>
        bool Beh_SearchForObject<Type,TInputImage,nDims>::isFinished()
        {
                //Check the current intensity
                typename AvgIntensitySensorType::sensorIn::Pointer avgInput = AvgIntensitySensorType::sensorIn::New();

                this->avgInput->imageIn = image;
                this->avgInput->geom = geomLayer;
                avgIntensitySensor->run(avgInput);
                typename AvgIntensitySensorType::sensorOut::Pointer output = (typename AvgIntensitySensorType::sensorOut *) (avgIntensitySensor->getOutput()).GetPointer();

                if( (this->output->avgIntensity >= input->intensityRequirement))
                        found = true;
                else
                        found = false;

                return found  && (this->physLayer->getTime()>endTime);
        }
        template<class Type, class TInputImage, int nDims>
        void Beh_SearchForObject<Type,TInputImage,nDims>::scale()
        {

                scaleBehavior->cleanUp();
                //Run the translate behavior
                std::stringstream scaleArgs;
                //TODO assign duration better
                scaleArgs << 2.0 << " ";
                scaleArgs << 1.5 << " ";
                scaleBehavior->run(NULL,&scaleArgs);

        }

        template<class Type, class TInputImage, int nDims>
        void Beh_SearchForObject<Type,TInputImage,nDims>::translate(VectorType &loc)
        {

                translateBehavior->cleanUp();
                //Run the translate behavior
                std::stringstream transArgs;
                //TODO assign duration better
                transArgs << 5.0 << " ";
                for(int i=0;i<nDims;i++)
                {
                        transArgs << 25*loc(i) << " ";
                }
                translateBehavior->run(NULL,&transArgs);

        }
        template<class Type, class TInputImage, int nDims>
        void Beh_SearchForObject<Type,TInputImage,nDims>::cleanUp()
        {
                startTime =0;
                endTime =0;
                found = false;
        }
}//end namespace mial

#endif

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