Task.hpp

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#ifndef VICON_TASK_TASK_HPP
#define VICON_TASK_TASK_HPP

#include "vicon/TaskBase.hpp"
#include <ViconUncertainty.hpp>
#include <boost/shared_ptr.hpp>

namespace vicon {
    class TaskImpl;

    class Task : public TaskBase
    {
        friend class TaskBase;

    protected:
        boost::shared_ptr<TaskImpl> impl;
        boost::shared_ptr<vicon::ViconUncertainty <Eigen::Matrix4d> > uncertainty;

        virtual ::base::samples::RigidBodyState getZeroOrigin();

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

        bool configureHook();

        bool startHook();

        void updateHook();
        

        // void errorHook();

        void stopHook();

        // void cleanupHook();
    };
}

#endif