#ifndef ROBOT_H
#define ROBOT_H
#include <qmath.h>


class robot
{
public:
    robot();
    bool flag_sail;

    double x,y,theta,v,omega,ell; // state variables
    double beta, Jz, rg, rv, alphag, alphav, alphaf, alphatheta, l,m, ; //parameters
    double a,psi,psi_ap,a_ap;  //wind
    double fg,fv,gamma,deltav;  //link variables
    double E;
    void Clock(double,double);
};


#endif // ROBOT_H
