ThrustersBase.hpp

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

#ifndef AUV_CONTROL_THRUSTERSBASE_TASK_HPP
#define AUV_CONTROL_THRUSTERSBASE_TASK_HPP

#include "auv_control/ThrustersBaseBase.hpp"

namespace auv_control{

    class ThrustersBase : public ThrustersBaseBase
    {
        friend class ThrustersBaseBase;
    protected:

        base::VectorXd coeffPos;
        base::VectorXd coeffNeg;
        std::vector<base::JointState::MODE> controlModes;
        double thrusterVoltage;
        uint numberOfThrusters;
        bool checkControlInput(base::samples::Joints const &cmd_in, base::JointState::MODE mode);

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

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

        ~ThrustersBase();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif