OptimalHeadingController.hpp

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

#ifndef AUV_CONTROL_OPTIMALHEADINGCONTROLLER_TASK_HPP
#define AUV_CONTROL_OPTIMALHEADINGCONTROLLER_TASK_HPP

#include "auv_control/OptimalHeadingControllerBase.hpp"
#include <base/Timeout.hpp>

namespace auv_control {

    class OptimalHeadingController : public OptimalHeadingControllerBase
    {
        friend class OptimalHeadingControllerBase;
    protected:

        base::samples::RigidBodyState orientation_sample;
        base::Timeout new_orientation_samples_timeout;
        void keep();
        bool calcOutput(const LinearAngular6DCommandStatus &merged_command);


    public:
        OptimalHeadingController(std::string const& name = "auv_control::OptimalHeadingController");

        OptimalHeadingController(std::string const& name, RTT::ExecutionEngine* engine);

        ~OptimalHeadingController();

        bool configureHook();

        bool startHook();

        void updateHook();
        void errorHook();

    };
}

#endif