ThrusterForce2BodyEffort.hpp

Go to the documentation of this file.

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

#ifndef AUV_CONTROL_THRUSTERFORCE2BODYEFFORT_TASK_HPP
#define AUV_CONTROL_THRUSTERFORCE2BODYEFFORT_TASK_HPP

#include "auv_control/ThrusterForce2BodyEffortBase.hpp"

namespace auv_control{

    class ThrusterForce2BodyEffort : public ThrusterForce2BodyEffortBase
    {
        friend class ThrusterForce2BodyEffortBase;
    protected:

            base::MatrixXd thrusterMatrix;

    public:
        ThrusterForce2BodyEffort(std::string const& name = "auv_control::ThrusterForce2BodyEffort");

        ThrusterForce2BodyEffort(std::string const& name, RTT::ExecutionEngine* engine);

        ~ThrusterForce2BodyEffort();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif