walk_beh_walk_to_pose.h

// Walk and kick walk behaviour state: Walk to pose
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
 // Ensure header is only included once
#ifndef WALK_BEH_WALK_TO_POSE_H
#define WALK_BEH_WALK_TO_POSE_H

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

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

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

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

    private:
        // State variables
        bool m_arrived;
        TheWorm m_arrivedWorm;
    };
}

#endif
// EOF