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/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
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/* Summary  :                                                               */
/* Filename : Ascend.h                                                      */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
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/* Modification History:                                                    */
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#ifndef _WAYPOINTSIDE_H
#define _WAYPOINTSIDE_H

#include "ourTypes.h"
#include "Behavior.h"
#include "Waypoint.h"
#include "MathP.h"

#define WaypointSideBehaviorName "waypointside"


/*
CLASS 
WaypointSide

DESCRIPTION
Attempts to achieve a position using the specified direction
of approach.


AUTHOR
Tom O'Reilly
*/

class WaypointSide : public Waypoint {

public:

  WaypointSide();
  virtual ~WaypointSide();

  virtual void execute( void );
  virtual Boolean validInput( void );

  virtual Boolean shouldBehaviorStart( void );

protected:

  double _nothing;
  Boolean _waypointDone;

};

#endif