Pitch.h

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#ifndef PITCH_H_
#define PITCH_H_

#include "component/Behavior.h"

class UniversalDataReader;

class Pitch : public Behavior
{
public:

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

    virtual ~Pitch();

    void initialize();

    // Reads in behavior settings
    void readSettings();

    bool readParams();

    bool calcSatisfied();

    void run();

    bool isSatisfied();

    bool runIfUnsatisfied();

    void uninitialize();

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

protected:

    // Slate input setting variables

    SettingReader *depthSettingReader_;

    SettingReader *depthRateSettingReader_;

    SettingReader *elevatorAngleSettingReader_;

    SettingReader *massPositionSettingReader_;

    SettingReader *pitchSettingReader_;

    SettingReader *pitchRateSettingReader_;

    // Other slate inputs

    // Slate input measurements

    UniversalDataReader *depthReader_;

    // Slate output variables

    DataWriter *verticalModeWriter_;

    DataWriter *depthCmdWriter_;

    DataWriter *depthRateCmdWriter_;

    DataWriter *elevatorAngleCmdWriter_;

    DataWriter *massPositionCmdWriter_;

    DataWriter *pitchCmdWriter_;

    DataWriter *pitchRateCmdWriter_;

    // Setting Variables

    float depthSetting_;

    float depthRateSetting_;

    float elevatorAngleSetting_;

    float massPositionSetting_;

    float pitchSetting_;

    float pitchRateSetting_;

    // Initial Variables

    float initialDepth_;

    // Current Variables

    float depth_;

    bool initialized_;

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

};

#endif /*PITCH_H_*/