class stMEDTargetTracker
{
public:

  

  virtual void getMETConfig(         const stCLCamera & roboCam,
				     const point      & ptTarget,
				    
				     const stMotionManager & motionManger,
				     const list<segment>   & lstMapSeg,
				     stCLCamera & bestCam,
				     segment & closestSeg,
				     double & minDist,
				     int numTrials);

  /* if it return -1 then visibility polygon is Empty
     May be the robot is very close to the wall*/
  virtual inline 
  double  minEscapeDistance(const  stCLCamera   & roboCam,
			   const point   & ptTarget,
			   const list<segment> & lstMapSeg,
			   segment & closestSeg,
			   double & MaxMinDist)const;



 
};