SimpleController.hpp

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

#ifndef SKID4_CONTROL_SIMPLECONTROLLER_TASK_HPP
#define SKID4_CONTROL_SIMPLECONTROLLER_TASK_HPP

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

namespace skid4_control {
    class SimpleController : public SimpleControllerBase
    {
        friend class SimpleControllerBase;

        double m_radius;
        double m_trackRadius;
        base::Timeout m_cmd_timeout;

    public:
        SimpleController(std::string const& name = "skid4_control::SimpleController");

        SimpleController(std::string const& name, RTT::ExecutionEngine* engine);
        
        bool configureHook();

//         bool startHook();

        void updateHook();

        // void errorHook();

        // void stopHook();

        // void cleanupHook();
    };
}

#endif