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# Modules/BehaviorControl/SLBenchmark.h

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    00001 #ifndef __SLBenchmark_h_
    00002 #define __SLBenchmark_h_
    00003
    00004 #include "BehaviorControl.h"
    00005
    00006 class SLBenchmark : public BehaviorControl
    00007 {
    00008 public:
    00009   SLBenchmark(const BehaviorControlInterfaces& interfaces);
    00010
    00011   virtual void execute();
    00012 private:
    00013   Pose2D          currentPose;
    00014
    00015   Vector2<double> targetPosition;
    00016   double          targetRotation;
    00017
    00018   OutTextFile     *dataFile;
    00019
    00020   int             index;
    00021
    00022   OdometryData    lastOdometry;
    00023
    00024   double          rotationAngle;
    00025
    00026   int             state;
    00027
    00028   Vector3<double>  targets[6];
    00029
    00030   void GenerateNewTarget ();
    00031   double GoToNextTarget ();
    00032   double RotateToNextTarget ();
    00033   bool FullTurn ();
    00034 };
    00035 #endif