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

$nodeclass Lab3_PartII_4 : PilotDemo {

    $nodeclass PrintLoc : StateNode : doStart {
        cout << "Location (x=" << theAgent->getCentroid().coordX() << " y=" << theAgent->getCentroid().coordY() << ") heading=" << theAgent->getOrientation() << endl;
        postStateCompletion();
    }

    $setupmachine{
        rundemo: BuildWorldMap =C=> 
        WalkForward(-250) =PILOT=> Turn(1.571) =PILOT=> WalkForward(1250) =PILOT=> Turn(-1.571) =PILOT=> WalkForward(1000) =PILOT=> Turn(-1.571) =PILOT=> WalkForward(2500) =PILOT=> Turn(-1.571) =PILOT=> WalkForward(1000) =PILOT=> Turn(-1.571) =PILOT=> WalkForward(1250) =PILOT=> Turn(-1.571) =PILOT=> WalkForward(250) =PILOT=>
        PrintLoc =C=> Localize =C=> PrintLoc
  }

}

REGISTER_BEHAVIOR(Lab3_PartII_4);