Task.hpp

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#ifndef TILT_SCAN_TASK_TASK_HPP
#define TILT_SCAN_TASK_TASK_HPP

#include <tilt_scan/TaskBase.hpp>
#include <tilt_scanTypes.hpp>

#include <base/commands/Joints.hpp>
#include <base/samples/Pointcloud.hpp>

namespace tilt_scan
{
        class Task : public TaskBase
        {
        friend class TaskBase;
        protected:

                // Callbacks
                virtual void scan_samplesTransformerCallback(const base::Time &ts, const base::samples::LaserScan &scan);
                virtual void trigger_sweep();

                // Internal methods
                void checkTiltStatus();
                void sendPointcloud();

                // Members
                base::Time mLastScanTime;
                bool mTrigger;

                base::commands::Joints mTiltUpCommand;
                base::commands::Joints mTiltDownCommand;
                base::samples::Pointcloud mPointcloud;

                Configuration mConfiguration;
                SweepStatus mSweepStatus;

        public:
                Task(std::string const& name = "tilt_scan::Task");
                Task(std::string const& name, RTT::ExecutionEngine* engine);
                ~Task();

                bool configureHook();
                bool startHook();
                void updateHook();
                void errorHook();
                void stopHook();
                void cleanupHook();
        };
}

#endif