#include "Behaviors/Demos/Navigation/PilotDemo.h"


$nodeclass Gohome: PilotDemo {
  
  $nodeclass Starter : PilotNode(PilotTypes::walk) : doStart {
    pilotreq.collisionAction = collisionIgnore;
    pilotreq.da = (-1.0*theAgent->getOrientation()) + atan2(-theAgent->getCentroid().coordY(), -theAgent->getCentroid().coordX());
    pilotreq.dx = sqrt(theAgent->getCentroid().coordX()*theAgent->getCentroid().coordX() + theAgent->getCentroid().coordY()* theAgent->getCentroid().coordY());
  }
  $setupmachine{
    rundemo: Starter=C=>PostMachineCompletion()
  }
}
REGISTER_BEHAVIOR(Gohome);