ContactPointTask.hpp

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

#ifndef ODOMETRY_CONTACTPOINTTASK_TASK_HPP
#define ODOMETRY_CONTACTPOINTTASK_TASK_HPP

#include "odometry/ContactPointTaskBase.hpp"

namespace odometry
{
    class FootContact;
    class Gaussian3D;
}

namespace odometry {

    class ContactPointTask : public ContactPointTaskBase
    {
        friend class ContactPointTaskBase;
    protected:

        odometry::BodyContactState contactState;
        odometry::Configuration odometryConfiguration;
        odometry::FootContact* contactOdometry;
        bool gotContactState;

        void contact_samplesTransformerCallback(const base::Time &ts, const ::odometry::BodyContactState &contact_samples_sample);
        void body2imu_enuTransformerCallback(const base::Time &ts);

    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

        ContactPointTask(std::string const& name = "odometry::ContactPointTask");

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

        ~ContactPointTask();

        // bool configureHook();

        bool startHook();

        // void updateHook();

        // void errorHook();

        // void stopHook();

        // void cleanupHook();
    };
}

#endif