Task.hpp

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

#ifndef PTU_DIRECTEDPERCEPTION_DIRECTEDPERCEPTIONTASK_TASK_HPP
#define PTU_DIRECTEDPERCEPTION_DIRECTEDPERCEPTIONTASK_TASK_HPP

#include <boost/shared_ptr.hpp>

#include "ptu_directedperception/TaskBase.hpp"

namespace ptu_directedperception {

    class DriverImpl;

    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:
        boost::shared_ptr<DriverImpl> mpImpl;
        
        /* Handler for the ptFromRBS operation
         */
        virtual ::base::Vector2d ptFromRBS(::base::samples::RigidBodyState const & rbs_in);
        /* Handler for the rbsFromPT operation
         */
        virtual ::base::samples::RigidBodyState rbsFromPT(::base::Vector2d const & pt_in);
        
        virtual ::base::samples::RigidBodyState rbsFromPanTilt(double pan, double tilt);

        void processIO();

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

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

        ~Task();

        bool configureHook();

        bool startHook();

        void updateHook();

        // void errorHook();

        void stopHook();

        //void cleanupHook();
    };
}

#endif