PIDTask.hpp

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

#ifndef MOTOR_CONTROLLER_PIDTASK_TASK_HPP
#define MOTOR_CONTROLLER_PIDTASK_TASK_HPP

#include "motor_controller/PIDTaskBase.hpp"
#include <base/commands/Joints.hpp>

namespace motor_controller {
    class PIDTask : public PIDTaskBase
    {
        friend class PIDTaskBase;
    protected:
        std::vector<motor_controller::PID> mPIDs;
        base::samples::Joints mStatus;
        base::commands::Joints mInputCommand;
        base::commands::Joints mOutputCommand;
        std::vector<motor_controller::PIDState> mPIDState;

        virtual float computePIDOutput(int idx,
                base::JointState::MODE output_domain,
                float state, float target, base::Time now);

    public:
        PIDTask(std::string const& name = "motor_controller::PIDTask");

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

        ~PIDTask();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif