Altimeter.hpp

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

#ifndef SIMULATION_MARSALTIMETER_TASK_HPP
#define SIMULATION_MARSALTIMETER_TASK_HPP

#include "mars/AltimeterBase.hpp"
namespace mars{
    namespace sim{
        class RaySensor;
    }

}

namespace mars {

    class Altimeter : public AltimeterBase
    {
        friend class AltimeterBase;
    protected:
        unsigned long node_id;
        sim::RaySensor* sonar;
        base::samples::RigidBodyState gdist;


    public:
        Altimeter(std::string const& name = "mars::Altimeter");

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

        ~Altimeter();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif