Task.hpp

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

#ifndef DPS_DESERTSTAR_SSP1_TASK_TASK_HPP
#define DPS_DESERTSTAR_SSP1_TASK_TASK_HPP

#include "dps_desertstar_ssp1/TaskBase.hpp"
#include "dps_desertstar_ssp1/Driver.hpp"

namespace aggregator
{
    class TimestampEstimator;
};

namespace RTT { namespace extras { class FileDescriptorActivity; } }

namespace dps_desertstar_ssp1 {

    class Task : public TaskBase, public dps_desertstar_ssp1::Interface
    {
        friend class TaskBase;
    protected:
        virtual bool setVariance(double value);
        RTT::extras::FileDescriptorActivity* activity;
        Driver *driver;
        aggregator::TimestampEstimator* timestamp_estimator;

    public:
        Task(std::string const& name = "dps_desertstar_ssp1::Task");

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

        ~Task();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
                
        
        virtual void newDepthData(const base::samples::RigidBodyState &depth);
        virtual void newTemperatureData(const double &temperature);
    };
}

#endif