ThrustersInput.hpp

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

#ifndef AUV_CONTROL_THRUSTERSINPUT_TASK_HPP
#define AUV_CONTROL_THRUSTERSINPUT_TASK_HPP

#include "auv_control/ThrustersInputBase.hpp"

namespace auv_control {

    class ThrustersInput : public ThrustersInputBase
    {
        friend class ThrustersInputBase;
    protected:

        base::samples::Joints calcOutput(base::samples::Joints const &thruster_forces) const;

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

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

        ~ThrustersInput();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif