Generic.hpp

Go to the documentation of this file.

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

#ifndef ODOMETRY_GENERIC_TASK_HPP
#define ODOMETRY_GENERIC_TASK_HPP

#include "odometry/GenericBase.hpp"
#include <base/TransformWithCovariance.hpp>

namespace base
{
    template<>
    inline base::Vector3d unknown<base::Vector3d>()
    {
        return base::Vector3d::Ones() * base::unknown<double>();
    }
}

namespace odometry {

    class Generic : public GenericBase
    {
        friend class GenericBase;
    protected:
        
        base::TransformWithCovariance lastBody2Odometry;

        void pushState(base::Time const& ts,
                base::TransformWithCovariance& body2prevbody,
                base::Quaterniond const& R_body2world,
                base::Vector3d const& velocity = base::unknown<base::Vector3d>(),
                base::Vector3d const& angular_velocity = base::unknown<base::Vector3d>());
    public:
        Generic(std::string const& name = "odometry::Generic");

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

        ~Generic();

        // bool configureHook();

        bool startHook();

        // void updateHook();

        // void errorHook();

        // void stopHook();

        // void cleanupHook();
    };
}

#endif