PitchServo.h

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#ifndef PITCHSERVO_H_
#define PITCHSERVO_H_

#include "component/Behavior.h"
#include "utils/Trajectory.h"

class PitchServo : public Behavior
{
public:

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

    virtual ~PitchServo();

    void initialize( void );

    void run();

    bool isSatisfied();

    bool runIfUnsatisfied();

    void uninitialize( void );

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

protected:

    void readConfig();

    bool readSettings( float& measuredValue );

    bool readParams( float& measuredValue );

    bool calcSatisfied( const float measuredValue );

    // Configuration variables
    ConfigReader* kdDepthCfgReader_;
    ConfigReader* kiDepthCfgReader_;
    ConfigReader* kpDepthCfgReader_;
    ConfigReader* maxDiveRateCfgReader_;
    ConfigReader* maxDiveAccelCfgReader_;
    ConfigReader* maxDepthIntCfgReader_;

    // Slate input setting variables

    SettingReader *holdValueSettingReader_;

    SettingReader *inputSettingReader_;

    SettingReader *proportionalGainSettingReader_;

    SettingReader *integralGainSettingReader_;

    SettingReader *derivativeGainSettingReader_;

    SettingReader *changePerMeterSettingReader_;

    // Data Readers

    UniversalDataReader* depthReader_;

    // Data Writers

    DataWriter *verticalModeWriter_;

    DataWriter *pitchCmdWriter_;

    // Actual values from settings

    float holdValueSetting_;

    float proportionalGainSetting_;

    float integralGainSetting_;

    float derivativeGainSetting_;

    float measuredValueIntegral_;

    float maxDepthInt_;

    float lastMeasuredValue_;

    Trajectory trajectory_;

    float maxChangeRate_;

    float maxDiveRate_;

    float maxDiveAccel_;

    bool startBelowSetting_;

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

};

#endif /*PITCHSERVO_H_*/