TurnVelocityToSteerAngleTask.hpp

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

#ifndef TRAJECTORY_FOLLOWER_TURNVELOCITYTOSTEERANGLETASK_TASK_HPP
#define TRAJECTORY_FOLLOWER_TURNVELOCITYTOSTEERANGLETASK_TASK_HPP

#include "trajectory_follower/TurnVelocityToSteerAngleTaskBase.hpp"
#include <base/commands/Motion2D.hpp>

namespace trajectory_follower{

    class TurnVelocityToSteerAngleTask : public TurnVelocityToSteerAngleTaskBase
    {
        friend class TurnVelocityToSteerAngleTaskBase;
    protected:

        double ackermanRatio, wheelBase;



    public:
        TurnVelocityToSteerAngleTask(std::string const& name = "trajectory_follower::TurnVelocityToSteerAngleTask");

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

        ~TurnVelocityToSteerAngleTask();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif