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

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

#define WaypointBehaviorName "waypoint"


/*
CLASS 
Waypoint

DESCRIPTION
Attempts to achieve a position using the specified direction
of approach.


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

public:

  Waypoint();
  virtual ~Waypoint();

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

  virtual Boolean shouldBehaviorStart( void );

protected:

  double _northing;
  double _easting;
  double _latitude;
  double _longitude;
  double _speed;
  double _depth;
  double _bearing;
  double _captureRadius;
  double _gain;
  Boolean _circleMode;
  Boolean _first;
};



#endif