Buoyancy.h

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#ifndef BUOYANCY_H_
#define BUOYANCY_H_

#include "component/Behavior.h"
#include "data/Location.h"

class UniversalDataReader;

class Buoyancy : public Behavior
{
public:

    Buoyancy( const Str& prefix, const Module* module );

    virtual ~Buoyancy();

    void initialize( void );

    void run();

    bool runIfUnsatisfied();

    bool isSatisfied();

    void uninitialize( void );

    static Behavior* CreateBehavior( const Str& prefix, const Module* module );

protected:

    bool calcSatisfied( );

    // Positon at which to stop buoyancying
    double positionSetting_;

    // Allowable error is buoyancy
    double buoyancyDeviation_;

    // Servo ConfigReader
    ConfigReader* buoyancyDeviationCfgReader_;

    // Slate input setting variables
    UniversalDataReader *positionReader_;

    SettingReader *positionSettingReader_;

    DataWriter* positionCmdWriter_;

private:
    // Note that the copy constructor below is private and not given a body.
    // Any attempt to call it will return a compiler error.
    Buoyancy( const Buoyancy& old ); // disallow copy constructor

};

#endif /*BUOYANCY_H_*/