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

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

#define WaypointYoyoBehaviorName "waypoint_yoyo"


/*
CLASS 
WaypointYoyo

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


AUTHOR
hans
*/
class WaypointYoyo : public Behavior {

public:

  WaypointYoyo();
  virtual ~WaypointYoyo();

  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;

  Boolean _goingDown;
  double _minDepth;
  double _maxDepth;
  double _minPitch;
  double _maxPitch;
  double _minAltitude;
  double _maxCycles;
  double _cyclesCompleted;
  double _abortDepth;

  enum ControlMode {Unspecified, Pitch, Depth};
  ControlMode _controlMode;
};



#endif