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/**
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file Behavior.h
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 * @brief Contains declarations for the structure of all behaviours.
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 * 
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 * Contains functions and definitions for a generic behavior.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Priyanka Deo
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 **/
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#ifdef _BEHAVIOR_H_
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#define _BEHAVIOR_H_
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#include "libscout.h"
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class Behavior
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{
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    public:
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        ros::NodeHandle node;
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        ros::Rate loop_rate;
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        //Declare all used library controls
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        MotorControl motors;
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        //ButtonControl buttons;
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        //SonarControl sonar;
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        //Initializes ROS for behavior
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        void init(int argc, char** argv);
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        //User implemented behavior
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        virtual int main(int argc, char** argv) = 0;
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        //Wrappers for ROS functions
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        bool ok();
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        void spin();
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        void spinOnce();
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};
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#endif