AccelerationController.hpp

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

#ifndef AUV_CONTROL_ACCELERATIONCONTROLLER_TASK_HPP
#define AUV_CONTROL_ACCELERATIONCONTROLLER_TASK_HPP

#include "auv_control/AccelerationControllerBase.hpp"
#include <base/commands/Joints.hpp>

namespace auv_control {

    class AccelerationController : public AccelerationControllerBase
    {
        friend class AccelerationControllerBase;
    protected:
        base::MatrixXd thrusterMatrix;
        base::MatrixXd weightedPseudoInverse;
        base::VectorXd inputVector;
        base::VectorXd cmdVector;
        base::VectorXd expectedEffortVector;
        boost::shared_ptr<Eigen::JacobiSVD<Eigen::MatrixXd> > svd;
        base::commands::Joints jointCommand;
        std::vector<base::JointState::MODE> controlModes;
        std::vector<std::string> names;
        base::JointLimits limits;

        bool calcOutput(const LinearAngular6DCommandStatus &merged_command);

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

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

        ~AccelerationController();

        bool startHook();
        bool configureHook();
    };
}

#endif