Positioning.hpp

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

#ifndef VELODYNE_LIDAR_POSITIONING_TASK_HPP
#define VELODYNE_LIDAR_POSITIONING_TASK_HPP

#include "velodyne_lidar/PositioningBase.hpp"
#include <velodyne_lidar/velodynePositioningDriver.hpp>

namespace aggregator
{
    class TimestampEstimator;
}

class OGRCoordinateTransformation;

namespace velodyne_lidar {

    class Positioning : public PositioningBase
    {
        friend class PositioningBase;
    protected:
        VelodynePositioningDriver positioning_driver;
        velodyne_positioning_packet_t buffer;
        aggregator::TimestampEstimator* timestamp_estimator;
        OGRCoordinateTransformation *coTransform;
        RTT::OutputPort< ::base::samples::IMUSensors >* orientation_output_ports[VELODYNE_ORIENTATION_READINGS];
        States last_state;
        int last_packet_period; // in microseconds
        uint32_t last_gps_timestamp; // in microseconds
        uint32_t gps_timestamp_tolerance; // in microseconds


    public:
        Positioning(std::string const& name = "velodyne_lidar::Positioning");

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

        ~Positioning();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif