RMLPositionTask.hpp

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

#ifndef TRAJECTORY_GENERATION_RMLPOSITIONTASK_TASK_HPP
#define TRAJECTORY_GENERATION_RMLPOSITIONTASK_TASK_HPP

#include "trajectory_generation/RMLPositionTaskBase.hpp"

namespace trajectory_generation{

class RMLPositionTask : public RMLPositionTaskBase
{
    friend class RMLPositionTaskBase;

    base::samples::Joints joint_state;    
    base::samples::Joints current_sample; 
    ConstrainedJointsCmd target;          
    base::commands::Joints command;       
protected:
    virtual void updateMotionConstraints(const MotionConstraint& constraint,
                                         const size_t idx,
                                         RMLInputParameters* new_input_parameters);

    virtual RTT::FlowStatus updateCurrentState(RMLInputParameters* new_input_parameters);

    virtual RTT::FlowStatus updateTarget(RMLInputParameters* new_input_parameters);

    virtual ReflexxesResultValue performOTG(RMLInputParameters* new_input_parameters,
                                            RMLOutputParameters* new_output_parameters,
                                            RMLFlags *rml_flags);

    virtual void writeCommand(const RMLOutputParameters& new_output_parameters);

    virtual void printParams(const RMLInputParameters& in, const RMLOutputParameters& out);

    virtual const ReflexxesInputParameters& convertRMLInputParams(const RMLInputParameters &in, ReflexxesInputParameters& out);

    virtual const ReflexxesOutputParameters& convertRMLOutputParams(const RMLOutputParameters &in, ReflexxesOutputParameters& out);

public:
    RMLPositionTask(std::string const& name = "trajectory_generation::RMLPositionTask") : RMLPositionTaskBase(name){}
    RMLPositionTask(std::string const& name, RTT::ExecutionEngine* engine) : RMLPositionTaskBase(name){}
    ~RMLPositionTask(){}
    bool configureHook();
    bool startHook(){return RMLPositionTaskBase::startHook();}
    void updateHook(){RMLPositionTaskBase::updateHook();}
    void errorHook(){RMLPositionTaskBase::errorHook();}
    void stopHook(){RMLPositionTaskBase::stopHook();}
    void cleanupHook(){RMLPositionTaskBase::cleanupHook();}
};
}

#endif