HighDelayPoseEstimator.hpp

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

#ifndef POSE_ESTIMATION_HIGHDELAYPOSEESTIMATOR_TASK_HPP
#define POSE_ESTIMATION_HIGHDELAYPOSEESTIMATOR_TASK_HPP

#include "pose_estimation/HighDelayPoseEstimatorBase.hpp"

namespace pose_estimation {

    class HighDelayPoseEstimator : public HighDelayPoseEstimatorBase
    {
        friend class HighDelayPoseEstimatorBase;
    protected:
        Eigen::Affine3d aligned_slow_pose_sample;

        virtual void pose_samples_slowTransformerCallback(const base::Time &ts, const ::base::samples::RigidBodyState &pose_samples_slow_sample);

        virtual void xy_position_samplesTransformerCallback(const base::Time &ts, const ::base::samples::RigidBodyState &xy_position_samples_sample);

    public:
        HighDelayPoseEstimator(std::string const& name = "pose_estimation::HighDelayPoseEstimator");

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

        ~HighDelayPoseEstimator();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif