ForceTorque6DOF.hpp

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

#ifndef SIMULATION_FORCETORQUE6DOF_TASK_HPP
#define SIMULATION_FORCETORQUE6DOF_TASK_HPP

#include "mars/ForceTorque6DOFBase.hpp"

namespace mars {

    class ForceTorque6DOF : public ForceTorque6DOFBase
    {
        friend class ForceTorque6DOFBase;
    protected:



    public:
        ForceTorque6DOF(std::string const& name = "mars::ForceTorque6DOF");

        ForceTorque6DOF(std::string const& name, RTT::ExecutionEngine* engine);

        ~ForceTorque6DOF();


    virtual void init();
    virtual void update(double delta_t);


        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();

    private:
        std::vector< std::string > mars_names;
        std::vector< std::string > external_names;
        std::vector<int> mars_ids;
        std::vector< base::samples::Wrench > wrenches_deprecated;
        base::samples::Wrenches wrenches;


    };
}

#endif