gaze_beh_look_left_right.h

// Walk and kick gaze behaviour state: Look left right
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef GAZE_BEH_LOOK_LEFT_RIGHT_H
#define GAZE_BEH_LOOK_LEFT_RIGHT_H

// Includes
#include <walk_and_kick/wak_beh_state.h>

// Walk and kick namespace
namespace walk_and_kick
{
    class GazeBehLookLeftRight : public virtual WAKBehState
    {
    public:
        // Constructor
        GazeBehLookLeftRight(WAKConfig& config, const SensorVars& SV, const WAKBehShared& WBS, const WAKGameShared& WGS, int ID);
        virtual ~GazeBehLookLeftRight() {}

        // Execute function
        virtual void execute(ActuatorVars& AV, const ActuatorVars& lastAV, bool justActivated);

    protected:
        // Handle activation function
        virtual void handleActivation(bool nowActive);

    private:
        // State variables
        float m_gazeFreq;
        float m_gazePhaseOff;
    };
}

#endif
// EOF