Task.hpp

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

#ifndef IMAR_TASK_TASK_HPP
#define IMAR_TASK_TASK_HPP

#include <aggregator/TimestampEstimator.hpp>
#include <imu_imar/Imar.hpp>
#include "imu_imar/TaskBase.hpp"

namespace imu_imar {

    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:
        
        int timeout_counter;
        imu_imar::iVRU_BB imu_imar_driver;
        base::samples::IMUSensors sensors;
        base::samples::RigidBodyState reading;
        aggregator::TimestampEstimator* timestamp_estimator;

    public:
        Task(std::string const& name = "imu_imar::Task", TaskCore::TaskState initial_state = Stopped);

        Task(std::string const& name, RTT::ExecutionEngine* engine, TaskCore::TaskState initial_state = Stopped);

        ~Task();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif