/*****************************************************************/
/*    NAME: Michael Benjamin, Henrik Schmidt, and John Leonard   */
/*    ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA     */
/*    FILE: BHV_CutRange.h                                       */
/*    DATE: May 10th 2005                                        */
/*                                                               */
/* This file is part of MOOS-IvP                                 */
/*                                                               */
/* MOOS-IvP is free software: you can redistribute it and/or     */
/* modify it under the terms of the GNU General Public License   */
/* as published by the Free Software Foundation, either version  */
/* 3 of the License, or (at your option) any later version.      */
/*                                                               */
/* MOOS-IvP is distributed in the hope that it will be useful,   */
/* but WITHOUT ANY WARRANTY; without even the implied warranty   */
/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See  */
/* the GNU General Public License for more details.              */
/*                                                               */
/* You should have received a copy of the GNU General Public     */
/* License along with MOOS-IvP.  If not, see                     */
/* <http://www.gnu.org/licenses/>.                               */
/*****************************************************************/
 
#ifndef BHV_CUTRANGE_HEADER
#define BHV_CUTRANGE_HEADER

#include <string>
#include "VarDataPair.h"
#include "IvPContactBehavior.h"

class IvPDomain;
class BHV_CutRange : public IvPContactBehavior {
public:
  BHV_CutRange(IvPDomain);
  ~BHV_CutRange() {}
  
  IvPFunction* onRunState();
  bool         setParam(std::string, std::string);
  void         onHelmStart();

 protected:
  void   checkPursuit();
  double getRelevance();
  double getPriority();
  
 private: // Config params
  double  m_pwt_outer_dist;
  double  m_pwt_inner_dist;

  double  m_giveup_range;
  double  m_giveup_thresh;
  double  m_patience;

  bool    m_no_alert_request;

private: // State vars
  bool    m_in_pursuit;

  std::vector<VarDataPair> m_pursue_flags;
  std::vector<VarDataPair> m_giveup_flags;
};
#endif