/*****************************************************************/
/*    NAME: Michael Benjamin, Henrik Schmidt, and John Leonard   */
/*    ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA     */
/*    FILE: BHV_HSLine.h                                         */
/*    DATE: Feb 8th 2009                                         */
/*                                                               */
/* 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_HSLINE_HEADER
#define BHV_HSLINE_HEADER

#include "IvPBehavior.h"
#include "XYSegList.h"

class BHV_HSLine : public IvPBehavior {
public:
  BHV_HSLine(IvPDomain);
  ~BHV_HSLine() {}
  
  bool         setParam(std::string, std::string);
  IvPFunction* onRunState();
  void         onIdleState()      {postErasableSegList();}
  void         onCompleteState()  {postErasableSegList();}

 protected: 
  void      postErasableSegList();

 protected:  // configuration parameters
  double    m_time_on_leg;               // seconds
  double    m_max_des_speed_observed;    // meters/second

  XYSegList m_seglist;
};
#endif