WaypointNavigator.hpp

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

#ifndef AUV_CONTROL_WAYPOINTNAVIGATOR_TASK_HPP
#define AUV_CONTROL_WAYPOINTNAVIGATOR_TASK_HPP

#include "auv_control/WaypointNavigatorBase.hpp"

namespace auv_control {

    class WaypointNavigator : public WaypointNavigatorBase
    {
        friend class WaypointNavigatorBase;
    protected:
        std::list<base::LinearAngular6DWaypoint> waypoints;
        base::samples::RigidBodyState last_pose;

        base::LinearAngular6DWaypoint wp;
        bool keep_position;
        base::Time start_keeping;

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

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

        ~WaypointNavigator();

//        bool configureHook();

  //      bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif