UWPoseEstimator.hpp

Go to the documentation of this file.

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

#ifndef POSE_ESTIMATION_UWPOSEESTIMATOR_TASK_HPP
#define POSE_ESTIMATION_UWPOSEESTIMATOR_TASK_HPP

#include "pose_estimation/UWPoseEstimatorBase.hpp"
#include "base/samples/RigidBodyState.hpp"
#include "base/samples/RigidBodyAcceleration.hpp"

namespace pose_estimation {

    class UWPoseEstimator : public UWPoseEstimatorBase
    {
        friend class UWPoseEstimatorBase;
    protected:

        virtual void acceleration_samplesTransformerCallback(const base::Time &ts, const ::base::samples::RigidBodyAcceleration &acceleration_samples_sample);

        virtual void depth_samplesTransformerCallback(const base::Time &ts, const ::base::samples::RigidBodyState &depth_samples_sample);

        virtual void orientation_samplesTransformerCallback(const base::Time &ts, const ::base::samples::RigidBodyState &orientation_samples_sample);

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

        virtual void dvl_velocity_samplesTransformerCallback(const base::Time &ts, const ::base::samples::RigidBodyState &dvl_velocity_samples_sample);
        
        virtual void model_velocity_samplesTransformerCallback(const base::Time &ts, const ::base::samples::RigidBodyState &model_velocity_samples_sample);
        
        virtual void gps_position_samplesTransformerCallback(const base::Time &ts, const ::base::samples::RigidBodyState &gps_position_samples_sample);

        virtual void xyz_position_samplesTransformerCallback(const base::Time &ts, const ::base::samples::RigidBodyState &xyz_position_samples_sample);
        
        virtual bool setTransformer_max_latency(double value);

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

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

        ~UWPoseEstimator();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif