/****************************************************************************/
/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : SetDepth.h                                                    */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
#ifndef _SETDEPTH_H
#define _SETDEPTH_H

#include "ourTypes.h"
#include "Behavior.h"
#include "DynamicControlIF.h"

#define SetDepthBehaviorName "setdepth"

class FloatAttribute;
class AngleAttribute;

/*
CLASS 
SetDepth

DESCRIPTION

Attribute       Type               Meaning
---------       ----               -------
depth           double             Commanded depth if verticalMode is "depth"

AUTHOR

*/

class SetDepth : public Behavior {

public:

  SetDepth();

  virtual ~SetDepth();

  virtual void execute();
  Boolean shouldBehaviorStart( void );
  virtual Boolean validInput();

protected:

  // Desired speed
  double _speed;

  // Desired depth
  double _depth;

};



#endif