Waypoint.h

Go to the documentation of this file.

#ifndef WAYPOINT_H_
#define WAYPOINT_H_

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

class UniversalDataReader;

class Waypoint : public Behavior
{
public:

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

    virtual ~Waypoint();

    void initialize( void );

    bool isSatisfied();

    bool runIfUnsatisfied();

    void run();

    void uninitialize( void );

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

protected:

    double latitudeSetting_;

    double longitudeSetting_;

    float bearing_;

    float captureRadiusSetting_;

    int waterFrameSetting_;

    float perpendicularSlope_;

    bool startOverLine_;

    float endDistanceWrtSea_;

    bool initialized_;

    bool latlonSettingReal_;

    // Slate input setting variables

    SettingReader *captureRadiusSettingReader_;

    SettingReader *distanceDeltaSettingReader_;

    SettingReader *distanceDeltaBearingSettingReader_;

    SettingReader *eastingsDeltaSettingReader_;

    // Desired waypoint latitude
    SettingReader *latitudeSettingReader_;

    // Desired waypoint latitude delta from the current latitude
    // If specified with latitude, the two are added together
    SettingReader *latitudeDeltaSettingReader_;

    // Desired waypoint longitude
    SettingReader *longitudeSettingReader_;

    // Desired waypoint latitude delta from the current latitude
    // If specified with latitude, the two are added together
    SettingReader *longitudeDeltaSettingReader_;

    SettingReader *northingsDeltaSettingReader_;

    SettingReader* waterFrameSettingReader_;

    // Slate input measurements

    UniversalDataReader *latitudeReader_;

    UniversalDataReader *longitudeReader_;

    UniversalDataReader *distanceWrtSeaReader_;

    // Slate output variables

    // Sets the heading mode for HeadingControl
    DataWriter *horizontalModeWriter_;

    // Sets the waypoint latitude for HeadingControl
    DataWriter *latitudeCmdWriter_;

    // Sets the waypoint longitude for HeadingControl
    DataWriter *longitudeCmdWriter_;

    // Computes the bearing to the waypoint
    DataWriter *bearingCmdWriter_;

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


};

#endif /*WAYPOINT_H_*/