BaseTask.hpp

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/*
 * Author: Alexander Duda / Alexander.Duda@dfki.define
 *
 * Created on 12. October 2010
 */


/*
 * Base Class for orogen GPS Drivers
 */

#ifndef GPS_BASETASK_TASK_HPP
#define GPS_BASETASK_TASK_HPP

#include "gps/BaseTaskBase.hpp"

class OGRCoordinateTransformation;

namespace gps {
    class BaseTask : public BaseTaskBase
    {
        friend class BaseTaskBase;
    protected:
        OGRCoordinateTransformation *coTransform;
        base::Time last_update;

    protected:
        /*
         * Updates the solution and calculates the position in UTM coordinates
         */
        void update(const gps::Solution &solution);

    public:
        BaseTask(std::string const& name = "gps::BaseTask", TaskCore::TaskState initial_state = Stopped);
        BaseTask(std::string const& name, RTT::ExecutionEngine* engine, TaskCore::TaskState initial_state = Stopped);

        bool configureHook();

        bool startHook();

        // void updateHook();
        

        // void errorHook();

        // void stopHook();

        // void cleanupHook();
    };
}

#endif