ForceApplier.hpp

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

#ifndef SIMULATION_FORCE_APPLIER_TASK_HPP
#define SIMULATION_FORCE_APPLIER_TASK_HPP

#include "Task.hpp"
#include "mars/ForceApplierBase.hpp"
#include <base/commands/Joints.hpp>

namespace mars {

    class ForceApplier : public ForceApplierBase
    {
        friend class ForceApplierBase;

    protected:
                unsigned long vehicle_id;
                unsigned int amount_of_actuators;
                std::vector <double> maximum_thruster_force;
                std::vector <mars::utils::Vector> thruster_position;
                std::vector <mars::utils::Vector> thruster_direction;
                std::vector <mars::interfaces::sReal> thruster_force;
                pthread_mutex_t node_update_mutex;

                unsigned int RATE;

        void update( double time );
        base::commands::Joints command;

    public:
        ForceApplier(std::string const& name = "mars::ForceApplier");
        ForceApplier(std::string const& name, RTT::ExecutionEngine* engine);

        ~ForceApplier();


         bool startHook();

         void updateHook();

         void errorHook();
    };
}

#endif