control.h

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#ifndef _CONTROL_H
#define _CONTROL_H
using namespace std;
#include<sstream>
#include "common.h"
//#include "Enum.h"
class body;
class world;
class connection;

class control
{
public:
	control(world*, body *, connection *);
	void create_robot();
	void init_robot();
	void beam(double, double, double);
	bool go_to_state(state *,command *);
	bool get_rate(double,double,double,double,double &);
	void do_command(command *);
	void follow_trajectory(trajectory *);
	void do_action(action *);
	void reset();

protected:

	int trajectory_it;
	std::string trajectory_name;
	int state_number;
	std::string previous_action_name;
	int         previous_action_size;
	int         previous_repeat_number;
	double state_time;
	command cmd;

	body *bd;
	world*wm;
	connection *cn;


};

#endif