inc/controllers/fitnessFramework/almChoreoAgent.h

#ifndef ALMCHOREOAGENT_H_
#define ALMCHOREOAGENT_H_

//#ifdef PARTNER_ALMENDE

#include "basic/robotActorBase.h"
#include "almPuppet.h"
#include "choreoFitness.h"

#include "controllers/externalControllers/tcpip/nonEmulationMessage.h"

namespace srAlmende {

class AlmChoreoAgent: public AlmPuppet {
        friend class ChoreoFitness;
public:
        AlmChoreoAgent(const std::string &name, srCore::RobotActorBase *robotActor);
        virtual ~AlmChoreoAgent();

        void ProcessMessage(const dtGame::Message& message);

        unsigned char getChoreoSignal();
protected:
        void ProcessSensorMessage();

        void ProcessActuatorMessage(srExternal::NonEmulationMessage *msg);

private:

        unsigned char success;
        float rightVel, leftVel;
};

}

//#endif
#endif /*ALMCHOREOAGENT_H_*/

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