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/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  : See below                                                     */
/* Filename : WaypointDepth.h                                               */
/* Author   : Rob, following Waypoint.h                                     */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 04/06/2005                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
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/* Modification History:                                                    */
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#ifndef _WAYPOINTDEPTH_H
#define _WAYPOINTDEPTH_H

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

#define WaypointDepthBehaviorName "waypoint_depth"


/*
CLASS 
WaypointDepth

DESCRIPTION
Guides the vehicle along a specified line to a waypoint.  This version, 
WaypointDepth, has starting and ending depths, so the line need not be level.

*/
class WaypointDepth : public Behavior {

public:

  WaypointDepth();
  virtual ~WaypointDepth();

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

  virtual Boolean shouldBehaviorStart( void );

protected:

  double _northing;
  double _easting;
  double _latitude;
  double _longitude;
  double _speed;
  double _bearing;
  double _captureRadius;
  double _gain;
  Boolean _circleMode;
  Boolean _first;

  double _depth;
  double _slope;
  double _initialDepth;
  double _finalDepth;
  double _minDepth;
  double _maxXte;
  Boolean _xtError;
  Boolean _abortOnTimeout;

  double _timeout;

};



#endif