Lane.h

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#ifndef LANE_H_
#define LANE_H_

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

class UniversalDataReader;

class Lane : public Behavior
{
public:

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

    virtual ~Lane();

    void readSettings();

    void initialize( void );

    bool isSatisfied();

    bool runIfUnsatisfied();

    void run();

    void uninitialize( void );

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

protected:

    float bearingSetting_;

    float distanceSetting_;

    double latitudeSetting_;

    double longitudeSetting_;

    float widthSetting_;

    float offsetSetting_;

    double latitude_;

    double longitude_;

    float perpendicularSlope_;

    bool startOverLine_;

    bool initialized_;

    // Slate input setting variables

    // Desired bearing
    SettingReader *bearingSettingReader_;

    // Desired distance
    SettingReader *distanceSettingReader_;

    SettingReader *widthSettingReader_;

    SettingReader *offsetSettingReader_;

    // Slate input measurements

    // Current platform latitude
    UniversalDataReader *latitudeReader_;

    // Current platform longitude
    UniversalDataReader *longitudeReader_;

    // Current platform heading
    UniversalDataReader *headingReader_;

    // Gets the horizontal mode for HorizontalControl
    DataReader *horizontalModeReader_;

    // Gets the heading for HorizontalControl
    DataReader *headingCmdReader_;

    // Gets the bearing for HorizontalControl
    DataReader *bearingCmdReader_;

    // Slate output variables

    // Sets the horizontal mode for HorizontalControl
    DataWriter *horizontalModeWriter_;

    // Sets the heading for HorizontalControl
    DataWriter *headingCmdWriter_;

    // Carries out behavior on parameters
    void doRun();

    // Determines if behavior is satisfied
    bool calcSatisfied();

    // Reads in parameters used by doRun and calcSatisfied
    bool readParams();

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


};

#endif /*LANE_H_*/