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#ifndef _WH_ROBOT_

#define _WH_ROBOT_

#define DEFAULT_TASK NULL;

#define TASK_COMPLETED 0

#define TASK_FAILED -1

#include "../Behavior.h"

#include "navigationMap.h"

#include "Scheduler.h" 

#include "../helper_classes/Order.h"

#include <assert.h>

#include <stdlib.h>

class WH_Robot : Behavior{

        Order* curr_task;

        navigationMap nav_map;

        Scheduler scheduler;

        Duration get_worst_case_time(State start_state, State target_state);

        int exec_task();

    public:

        WH_Robot(std::string scoutname);

        ~WH_Robot();

        void run();

        void set_task(Order order);

};

#endif