VerifyingObjectState.h

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#ifndef VERIFYING_OBJECT_STATE_H
#define VERIFYING_OBJECT_STATE_H
 
#include "../handlers/ObjectDetectionHandler.h"
#include "../interfaces/State.hpp"
#include "../util/GeospatialOperations.hpp"
#include "../vision/objects/ObjectDetector.h"
#include <chrono>
 
 
namespace statemachine
{
 
    class VerifyingObjectState : public State
    {
        private:
            bool m_bInitialized;
            geoops::Waypoint m_stGoalWaypoint;
            objectdetectutils::Object m_stBestObject;
            std::vector<std::shared_ptr<ObjectDetector>> m_vObjectDetectors;
            std::chrono::system_clock::time_point m_tmObjectVerificationStartTime;
            std::chrono::system_clock::time_point m_tmObjectLastSeenTime;
 
            // Time-based hit rate tracking
            std::chrono::system_clock::time_point m_tmLastRunTime;
            double m_dTotalValidTime;
 
        protected:
            void Start() override;
            void Exit() override;
 
        public:
            VerifyingObjectState();
            void Run() override;
            States TriggerEvent(Event eEvent) override;
    };
}    // namespace statemachine
 
#endif    // VERIFYINGOBJECTSTATE_H