vrfGroundPlatformBot.h

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/*******************************************************************************
** Copyright (c) 2010 MAK Technologies, Inc.
** All rights reserved.
*******************************************************************************/

#pragma once

#include <bhaveSim/bhaveSimDefines.h>
#include "bhaveSim/vrfEntityBot.h"
#include "bhaveSim/modifierGroundPlatformDetectAccident.h"
#include "bhaveSim/modifierGroundPlatformSteering.h"
#include "bhaveSim/drivingEntityAttribute.h"

#include <kyruntime.h>

namespace BHAVE
{

class DT_DLL_bhaveSim DtVrfGroundPlatformBot : public DtVrfEntityBot
{
public:
   KY_DECLARE_BOT( DtVrfGroundPlatformBot )
   
   DtVrfGroundPlatformBot( );
   virtual ~DtVrfGroundPlatformBot();

   virtual KyResult OnInitialize();
   
   virtual void initializeModifiers(Kaim::Modifiers& mod);

   virtual void updateFromVrf();

   virtual bool usingRoadMovement();

   virtual void setApproachSpeed(double approachSpeed);
   virtual void setNearDistance(double nearDistance);

   double pathDataHeight() const;

protected:
   Kaim::DtModifierGroundPlatformDetectAccident* myModifiedDetectAccident;
   Kaim::Goto_RepulsorDynamicAvoidance* myRepulsorDA;
   DtModifierGroundPlatformSteering* myModifiedSteering;

   DtDrivingEntityAttribute* myDrivingAttribute;
};

} //namespace BHAVE