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/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* 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 _WAYPOINTWALLESCAPE_H
#define _WAYPOINTWALLESCAPE_H

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

#define WaypointWallEscapeBehaviorName "waypoint_wall_escape"


/*
CLASS 
WaypointWallEscape

DESCRIPTION
Turns right until perpendicular to the estimated wall heading and
then transits a specified distance.

AUTHOR
Rob McEwen, using previous Waypoint code.
*/
class WaypointWallEscape : public Behavior {

public:

  WaypointWallEscape();
  virtual ~WaypointWallEscape();

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

  virtual Boolean shouldBehaviorStart( void );

protected:

  DynamicControlIF *_dynamicControlIF;

  double _northing;
  double _easting;
  double _latitude;
  double _longitude;
  double _speed;
  double _depth;
  double _altitude;
  double _bearing;
  double _gain;
  double _distance;
  double _wallBearing;
  double _lastWallTime, _wallAbsentTime;
  Boolean _first;

  long _missionQueue;
};



#endif