#pragma once

#include "Polar.h"
#include "Sensor.h"

class PerceivedObject {
public:
  PerceivedObject();
  PerceivedObject(Sensor *sensor, Polar position, float radius = 0.1F);

  static constexpr float equalityDistance = 0.3F;
  static constexpr float equalityAngle = 5.0F;
  bool IsTheSameAs(PerceivedObject *otherObj);

  char id;

  Polar position = Polar::zero;
  float radius;
  Sensor *sensor = nullptr;

  static constexpr unsigned char maxConfidence = 255;
  static constexpr unsigned char confidenceDropSpeed = 2;
  unsigned char confidence;

  bool DegradeConfidence(float deltaTime);
  void Refresh(Polar position, float radius);
};