Task.hpp

Go to the documentation of this file.

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

#ifndef SIMPLE_POSE_INTEGRATOR_TASK_TASK_HPP
#define SIMPLE_POSE_INTEGRATOR_TASK_TASK_HPP

#include "simple_pose_integrator/TaskBase.hpp"

namespace simple_pose_integrator{

    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:
        base::Affine3d body_in_odomerty;
        base::samples::RigidBodyState pose_sample;
        transformer::Transformer fast_transformer;
        int fast_pose_idx;
        transformer::Transformation& body2odometry_fast;

        virtual void pose_samples_inTransformerCallback(const base::Time &ts, const ::base::samples::RigidBodyState &pose_samples_in_sample);
        void fast_pose_callback(const base::Time &ts, const ::base::Time &timestamp);

    public:
        Task(std::string const& name = "simple_pose_integrator::Task");

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

        ~Task();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif