AuvMotion.hpp

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

#ifndef SIMULATION_AUVMOTION_TASK_HPP
#define SIMULATION_AUVMOTION_TASK_HPP

#include "mars/AuvMotionBase.hpp"

namespace mars {

    class AuvMotion : public AuvMotionBase
    {
        friend class AuvMotionBase;
    protected:
          void update( double time ); //Mars-callback
          
          base::Vector6d gravity_buoyancy(const Eigen::Quaternion<double> q);


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

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

        ~AuvMotion();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
        
    private:
        base::MatrixXd TCM;
        std::vector<double> thruster_coefficients;
        base::Vector6d linearDamp;
        base::Vector6d squareDamp;
        base::Vector3d centerOfBuoyancy;
        double voltage;
        
    };
}

#endif