#ifndef BEHAVIORS_H
#define BEHAVIORS_H

#include <libplayerc++/playerc++.h>
#include <math.h>
#include <stdlib.h>
#include "vec.h"
#include <iostream>
#include <linux/joystick.h>


#define NUM_BEHAVIORS 4

// Definitions for the behaviors IDs
#define LASER_AVOID_ID      0 
#define SONAR_AVOID_ID      1
#define RANDOM_VECTOR_ID    2
#define WANDER_ID           3

using namespace PlayerCc;

vec laserAvoid(LaserProxy *lp,double weight);
vec sonarAvoid(SonarProxy *sp,double sonarAngles[],double weight);
vec randomVector(double weight,int favoredSide);
vec wander(LaserProxy *lp, double weight);



#endif