Task.hpp

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

#ifndef TRAJECTORY_FOLLOWER_TASK_TASK_HPP
#define TRAJECTORY_FOLLOWER_TASK_TASK_HPP

#include "trajectory_follower/TaskBase.hpp"
#include <trajectory_follower/TrajectoryFollower.hpp>
#include <trajectory_follower/TrajectoryFollowerTypes.hpp>
#include <trajectory_follower/Motion2D.hpp>

namespace trajectory_follower{

    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:
        std::vector< base::Trajectory > trajectories;
        TrajectoryFollower trajectoryFollower;
        Motion2D motionCommand;
        base::samples::RigidBodyState rbpose;
        States new_state;
        States current_state;

        std::string printState(const States& state);

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

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

        ~Task();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif