TractorMobility.h

/* -*- mode:c++ -*- ********************************************************/
//
// Copyright (C) 2007 Peterpaul Klein Haneveld
//
// 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.
//

#ifndef RECTANGLE_MOBILITY_H
#define RECTANGLE_MOBILITY_H

#include <BaseMobility.h>


class  TractorMobility : public BaseMobility
{
protected:
  // configuration
  double x1, y1, x2, y2; 
  double dx, dy; 
  double rows; 
  // state
  double row_length, row_width;

  double path_length;
  double position;

  Coord targetPos;

public:
  //Module_Class_Members( TractorMobility, BaseMobility, 0 );

  virtual void initialize(int);

protected:
  virtual void makeMove();

  virtual void fixIfHostGetsOutside();

  void calculateXY();
};

#endif