Point.h

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#ifndef POINT_H_
#define POINT_H_

#include "component/Behavior.h"

class UniversalDataReader;

class Point : public Behavior
{
public:

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

    virtual ~Point();

    void initialize();

    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 *headingSettingReader_;

    SettingReader *headingDeltaSettingReader_;

    SettingReader *headingRateSettingReader_;

    SettingReader *rudderAngleSettingReader_;

    SettingReader *latitudeSettingReader_;

    SettingReader *latitudeDeltaSettingReader_;

    SettingReader *northingsDeltaSettingReader_;

    SettingReader *longitudeSettingReader_;

    SettingReader *longitudeDeltaSettingReader_;

    SettingReader *eastingsDeltaSettingReader_;

    // Slate input measurements

    UniversalDataReader *latitudeReader_;

    UniversalDataReader *longitudeReader_;

    UniversalDataReader *orientationReader_;

    // Slate output variables

    DataWriter *horizontalModeWriter_;

    DataWriter *latitudeCmdWriter_;

    DataWriter *longitudeCmdWriter_;

    DataWriter *headingCmdWriter_;

    DataWriter *headingRateCmdWriter_;

    DataWriter *rudderAngleCmdWriter_;

    // Settings

    float latitudeSetting_;

    float longitudeSetting_;

    float headingSetting_;

    float headingRateSetting_;

    float rudderAngleSetting_;

    // Initial Values

    float initialLatitude_;

    float initialLongitude_;

    float initialOrientation_;

    // Current Values

    float latitude_;

    float longitude_;

    float orientation_;

    float lastOrientationDelta_;

    float perpendicularSlope_;

    bool startOverLine_;

    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.
    Point( const Point& old ); // disallow copy constructor

};

#endif /*POINT_H_*/