/****************************************************************************/
/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : WaypointBottom.h                                              */
/* Author   : rsm                                                           */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 2012/10/2                                                     */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
#ifndef _WAYPOINTBOTTOM_H
#define _WAYPOINTBOTTOM_H
#define NTAB 512

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

#define WaypointBottomBehaviorName "waypoint_bottom"

class WaypointBottom : public Behavior {

public:

  WaypointBottom();
  virtual ~WaypointBottom();

  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 _gain;
  double _depthCmd;
  double _thetaFF;
  double _altitudeCmd, _altitude;
  double _amp;
  double _lambda;
  double _stime;
  double _x0, _y0, _stime0;
  Boolean _first, _latched, _run, _feedThetaForward, _quarterWave, _initProfile;
  float _altTab[NTAB][3];
  FILE *_fpAsc;
  char _fullFileName[128], *_baseName;
  int _indxTab, _lenTab;
};



#endif