Modules/BehaviorControl/SLBenchmark.h

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#ifndef __SLBenchmark_h_
#define __SLBenchmark_h_

#include "BehaviorControl.h"

class SLBenchmark : public BehaviorControl
{
public:
  SLBenchmark(const BehaviorControlInterfaces& interfaces);

  virtual void execute();
private:
  Pose2D          currentPose;

  Vector2<double> targetPosition;
  double          targetRotation;

  OutTextFile     *dataFile;

  int             index;

  OdometryData    lastOdometry;

  double          rotationAngle;

  int             state;

  Vector3<double>  targets[6];

  void GenerateNewTarget ();
  double GoToNextTarget ();
  double RotateToNextTarget ();
  bool FullTurn ();
};
#endif

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