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

#include "ourTypes.h"
#include "Behavior.h"
#include "MathP.h"

#define SetRudderBehaviorName "setRudder"


/*
CLASS 
SetRudder

DESCRIPTION
Sets rudder to specified angle and leaves it there.

Attribute         Type               Meaning
---------         ----               -------
rudder            Angle              Commanded rudder angle
depth             Float              Commanded depth
speed             Float              Commanded speed


AUTHOR
Tom O'Reilly
*/
class SetRudder : public Behavior {

public:

  SetRudder();

  virtual ~SetRudder();

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

  virtual Boolean shouldBehaviorStart();

protected:

  double _angle;
  double _depth;
  double _speed;
};



#endif