Skid.hpp

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

#ifndef ODOMETRY_SKIDODOMETRYTASK_TASK_HPP
#define ODOMETRY_SKIDODOMETRYTASK_TASK_HPP

#include "odometry/SkidBase.hpp"
#include <odometry/Odometry.hpp>

namespace odometry {

    class Skid : public SkidBase
    {
        friend class SkidBase;
    protected:

        boost::shared_ptr<odometry::SkidOdometry> odometry;

        /* time_stamp of last measurement */
        base::Time prev_ts;

        base::samples::Joints currentActuatorSample;
        bool actuatorUpdated;
        double lastMovingSpeed;

        
        std::vector<std::string> leftWheelNames;
        std::vector<std::string> rightWheelNames;

        virtual void actuator_samplesTransformerCallback(const base::Time &ts, const ::base::samples::Joints &actuator_samples_sample);
        void printInvalidSample();
        
        double getMovingSpeed();
        double wheelRadius;
        bool usePosition;        
    public:
        Skid(std::string const& name = "odometry::Skid");

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

        ~Skid();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif