CommandInjection.hpp

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

#ifndef AUV_CONTROL_COMMANDINJECTION_TASK_HPP
#define AUV_CONTROL_COMMANDINJECTION_TASK_HPP

#include "auv_control/CommandInjectionBase.hpp"
#include <base/Time.hpp>

namespace auv_control {

    class CommandInjection : public CommandInjectionBase
    {
        friend class CommandInjectionBase;
    protected:
        base::Time newest_injection_sample;
        bool calcOutput(const LinearAngular6DCommandStatus &merged_command);
        bool receiveCommandInjection(base::LinearAngular6DCommand& cmd_injection);

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

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

        ~CommandInjection();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif