Controller.hpp

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

#ifndef SKID4_CONTROL_CONTROLLER_TASK_HPP
#define SKID4_CONTROL_CONTROLLER_TASK_HPP

#include "skid4_control/ControllerBase.hpp"
#include <base/commands/Joints.hpp>

namespace skid4_control {
    class Controller : public ControllerBase
    {
        friend class ControllerBase;

    protected:
        std::vector<size_t> m_rightIndexes;
        std::vector<size_t> m_leftIndexes;
        
        std::vector<std::string> m_RightWheelNames;
        std::vector<std::string> m_LeftWheelNames;
        
        base::commands::Joints m_jointCmd;

    public:
        Controller(std::string const& name = "skid4_control::Controller", TaskCore::TaskState initial_state = Stopped);
        Controller(std::string const& name, RTT::ExecutionEngine* engine, TaskCore::TaskState initial_state = Stopped);

        ~Controller();

        bool configureHook();

        bool startHook();

        // void updateHook();

        // void errorHook();

        // void stopHook();

        // void cleanupHook();
    };
}

#endif