text: /****************************************************************************
  ** Copyright (c) 2021 Adrian Schneider
  **
  ** Permission is hereby granted, free of charge, to any person obtaining a
  ** copy of this software and associated documentation files (the "Software"),
  ** to deal in the Software without restriction, including without limitation
  ** the rights to use, copy, modify, merge, publish, distribute, sublicense,
  ** and/or sell copies of the Software, and to permit persons to whom the
  ** Software is furnished to do so, subject to the following conditions:
  **
  ** The above copyright notice and this permission notice shall be included in
  ** all copies or substantial portions of the Software.
  **
  ** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  ** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  ** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  ** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  ** LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
  ** FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
  ** DEALINGS IN THE SOFTWARE.
  **
  *****************************************************************************/
  
  #include "objective.h"
  
  /**
   * Maintain distance to all neighbouring agents.
   */
  class MaintainDistance: public Objective
  {
  public:
  
      /**
       * Objective of maintaining distance to other agents.
       * @param id Objective id.
       * @param priority Objectives priority, where low is highest priority.
       * @param agent To which agent objective belongs.
       * @param obsDistance Outside this distance, the human does not care.
       */
      MaintainDistance(unsigned int id, int priority, std::weak_ptr<Agent> agent, double obsDistance);
  
      /**
       * Destructor
       */
      virtual ~MaintainDistance();
  
  
  
      // From Objective interface
      void react(double timeStep);
      bool isDone() const;
  
  protected:
      double m_observationDistance;
  };
  