///////////////////////////////////////////////////////////////////////////
//
//   MOOS - Mission Oriented Operating Suite 
//  
//   A suit of Applications and Libraries for Mobile Robotics Research 
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
//   Oxford University. 
//    
//   This software was written by Paul Newman and others
//   at MIT 2001-2002 and Oxford University 2003-2005.
//   email: pnewman@robots.ox.ac.uk. 
//      
//   This file is part of a  MOOS Basic (Common) Application. 
//        
//   This program 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 2 of the 
//   License, or (at your option) any later version. 
//          
//   This program 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 this program; if not, write to the Free Software 
//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
//   02111-1307, USA. 
//
//////////////////////////    END_GPL    //////////////////////////////////
// SteerThenDriveXYPatternTask.h: interface for the CSteerThenDriveXYPatternTask class.
//
//////////////////////////////////////////////////////////////////////
#ifdef _WIN32
    #pragma warning(disable : 4786)
#endif

#if !defined(AFX_STEERTHENDRIVEXYPATTERNTASK_H__7345C96B_2152_4845_B0AB_A7927E72CC6B__INCLUDED_)
#define AFX_STEERTHENDRIVEXYPATTERNTASK_H__7345C96B_2152_4845_B0AB_A7927E72CC6B__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "XYPatternTask.h"

class CSteerThenDriveXYPatternTask : public CXYPatternTask  
{
public:
    CSteerThenDriveXYPatternTask();
    virtual ~CSteerThenDriveXYPatternTask();
    virtual  bool SetControl(CPathAction &DesiredAction,double dfRudder,double dfThrust);
    virtual  bool SetParam(string sParam, string sVal);
    virtual bool GetRegistrations(STRING_LIST &List);
    virtual bool OnNewMail(MOOSMSG_LIST &NewMail);
    virtual bool OnComplete();




protected:
    double m_dfAlpha;
    double m_dfLastThrust;
    double m_dfOuterYawTolerance;
    double m_dfInnerYawTolerance;

private:
    bool SetThrust(CPathAction &DesiredAction,double dfThrust);
};

#endif // !defined(AFX_STEERTHENDRIVEXYPATTERNTASK_H__7345C96B_2152_4845_B0AB_A7927E72CC6B__INCLUDED_)