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

#include "Behavior.h"
#include "MissionClock.h"

#define ChirpFinBehaviorName "chirpFin"

/*
CLASS 
ChirpFin

DESCRIPTION
Generates fin commands that follow a chirped sine wave of specified
amplitude, varying linearly in frequency from initial to final values
over specified time period.

Attribute       Type               Meaning
---------       ----               -------
amplitude       Float              Amplitude of sine wave
initialFreq     Float              Initial sine wave frequency
finalFreq       Float              Final sine wave frequency
plane           String             Either "horizontal" or "vertical"

AUTHOR
Tom O'Reilly
*/

class ChirpFin : public Behavior {

public:

  enum Plane {
    HorizontalPlane, VerticalPlane
  };

  ChirpFin();

  virtual ~ChirpFin();


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

protected:

  double _amplitude;
  double _initialFrequency;
  double _finalFrequency;
  char *_planeMnem;
  ChirpFin::Plane _plane;
};


#endif