Task.hpp

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

#ifndef HEADING_CALCULATOR_TASK_TASK_HPP
#define HEADING_CALCULATOR_TASK_TASK_HPP

#include "heading_calculator/TaskBase.hpp"

namespace heading_calculator {

    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:

        base::Trajectory mTrajectory;
        base::samples::RigidBodyState mPose;
        double mGuess; 
        double mPosSpline; 
        bool mTrajectoryReceived;

    public:
      
        Task(std::string const& name = "heading_calculator::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