ConstantCommandGroundFollower.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef AUV_CONTROL_CONSTANTCOMMANDGROUNDFOLLOWER_TASK_HPP
#define AUV_CONTROL_CONSTANTCOMMANDGROUNDFOLLOWER_TASK_HPP

#include "auv_control/ConstantCommandGroundFollowerBase.hpp"

namespace auv_control {

    class ConstantCommandGroundFollower : public ConstantCommandGroundFollowerBase
    {
        friend class ConstantCommandGroundFollowerBase;
    protected:
        base::samples::RigidBodyState depth;
        base::samples::RigidBodyState altimeter;
        double last_valid_ground_position;


    public:
        ConstantCommandGroundFollower(std::string const& name = "auv_control::ConstantCommandGroundFollower", TaskCore::TaskState initial_state = Stopped);

        ConstantCommandGroundFollower(std::string const& name, RTT::ExecutionEngine* engine, TaskCore::TaskState initial_state = Stopped);

        ~ConstantCommandGroundFollower();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif