Task.hpp

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

#ifndef uwv_dynamic_model_TASK_TASK_HPP
#define uwv_dynamic_model_TASK_TASK_HPP

#include "uwv_dynamic_model/TaskBase.hpp"
#include "uwv_dynamic_model/ModelSimulation.hpp"
#include "uwv_dynamic_model/DataTypes.hpp"

namespace uwv_dynamic_model {

    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:

        ModelSimulation* model_simulation;
        ModelSimulator simulator;
        base::Time last_control_input;

        bool checkInput(const base::LinearAngular6DCommand &control_input);

        base::samples::RigidBodyState toRBS(const PoseVelocityState &states);

        PoseVelocityState fromRBS(const base::samples::RigidBodyState &states);

        base::Vector6d toVector6d(const base::LinearAngular6DCommand &control_input);

        SecondaryStates getSecondaryStates(const base::LinearAngular6DCommand &control_input, const AccelerationState &acceleration);

        void setUncertainty(base::samples::RigidBodyState &states);

        void setSimulator(ModelSimulator simulator);

        virtual void handleStates(const base::samples::RigidBodyState &state, const base::LinearAngular6DCommand &control_input);

        virtual void setRuntimeState();

        virtual void resetStates(void);

    virtual void setStates(::base::samples::RigidBodyState const & pose_state);

    public:
        Task(std::string const& name = "uwv_dynamic_model::Task", ModelSimulator simulator = DYNAMIC_KINEMATIC);
        Task(std::string const& name, RTT::ExecutionEngine* engine, ModelSimulator simulator = DYNAMIC_KINEMATIC);
        ~Task();

        bool configureHook();
        bool startHook();
        void updateHook();
        void errorHook();
        void stopHook();
        void cleanupHook();
    };
}

#endif