/*****************************************************************/
/*    NAME: Michael Benjamin, Henrik Schmidt, and John Leonard   */
/*    ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA     */
/*    FILE: BHV_RubberBand.h                                     */
/*    DATE: Aug 25 2006                                          */
/*                                                               */
/* 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_RUBBER_BAND_HEADER
#define BHV_RUBBER_BAND_HEADER

#include <string>
#include <vector>
#include "IvPBehavior.h"
#include "XYSegList.h"

class BHV_RubberBand : public IvPBehavior {
public:
  BHV_RubberBand(IvPDomain);
  ~BHV_RubberBand() {}
  
  IvPFunction* onRunState();
  bool         setParam(std::string, std::string);
  void         onIdleState();
  void         onSetParamComplete();
  void         onRunToIdleState();


protected:
  bool         updateInfoIn();  
  bool         updateCenter();
  void         postStationMessage(bool);

  void    postViewableTrailPoint();
  void    postErasableTrailPoint();
  XYPoint m_trail_point;

private:  // Configuration Parameters
  double      m_station_x;
  double      m_station_y;
  bool        m_station_set;

  double      m_outer_radius;
  double      m_inner_radius;
  bool        m_center_activate;

  // The outer speed is the speed at the outer radius. The 
  // desired_speed will decrease linearly until the inner
  // ring, and will be zero inside the inner ring.
  double      m_outer_speed;
  
  // The extra_speed is the desired speed should the
  // vehicle drift outside the outer radius.
  double      m_extra_speed;


  // distance stiffness is the rate of increase in the priority with range
  double stiffness ;
  double relevance;
  int width;
private:  // State Variables
  bool         m_center_pending;
  std::string  m_center_assign;
  double       m_osx;
  double       m_osy;
};

#endif