text: #ifndef _Action_H_
  #define _Action_H_
  
  class Action;
  
  #include "MathTools.h"
  #include <iostream>
  
  using namespace std;
  
  enum atype { MOTOR,
      RETURN,
      END,
      VISIT };
  
  class Action {
  public:
      Action(double l, double r);
      Action(enum atype, int i);
      Action(enum atype, double l, double r);
  
      void setType(enum atype a, int bv = -1);
      double getlPower(void) { return lPower; }
      double getrPower(void) { return rPower; }
      bool toVisit() { return actiontype == VISIT; }
      bool toEnd() { return actiontype == END; }
      bool toReturn() { return actiontype == RETURN; }
      bool toDrive() { return actiontype == MOTOR; }
      int getBeaconToVisit() { return beaconToVisit; }
  
  private:
      enum atype actiontype;
      double lPower;
      double rPower;
      int beaconToVisit;
  };
  
  #endif
  