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

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

#define CircleBehaviorName "circle"


/*
CLASS 
Circle

DESCRIPTION
Fly in a circle about a geographically fixed point.

AUTHOR
Rob McEwen
*/
class Circle : public Behavior {

public:

  Circle();
  virtual ~Circle();

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

  virtual Boolean shouldBehaviorStart( void );

protected:

  double _northing;
  double _easting;
  double _latitude;
  double _longitude;
  double _speed;
  double _depth;
  double _bearing;
  double _radius;
  double _timeout;
  Boolean _abortOnTimeout;
  Boolean _first;

  AcousticModemIF::SMAC_CMD_TYPE _cmdRec;
};



#endif