AuvController.hpp

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

#ifndef SIMULATION_AUVCONTROLLER_TASK_HPP
#define SIMULATION_AUVCONTROLLER_TASK_HPP

#include "mars/AuvControllerBase.hpp"

namespace mars {

    class AuvController : public AuvControllerBase
    {
        friend class AuvControllerBase;
    protected:
        bool position_updated, orientation_updated;
        unsigned long auv_id;

        /* Dynamic Property setter of orientation
         */
        virtual bool setOrientation(::base::Quaterniond const & value);

        /* Dynamic Property setter of position
         */
        virtual bool setPosition(::base::Vector3d const & value);

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

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

        ~AuvController();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();

        void update(double time_ms);
    };
}

#endif