PIDController.hpp

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

#ifndef AUV_CONTROL_PIDCONTROLLER_TASK_HPP
#define AUV_CONTROL_PIDCONTROLLER_TASK_HPP

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

namespace auv_control {

    class PIDController : public PIDControllerBase
    {
        friend class PIDControllerBase;
    protected:
        bool on_init;
        bool isPoseSampleValid();

        base::Timeout new_pose_samples_timeout;


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

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

        ~PIDController();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif