ControllerTask.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */
 
#ifndef CTRL_LIB_CONTROLLERTASK_TASK_HPP
#define CTRL_LIB_CONTROLLERTASK_TASK_HPP
 
#include "ctrl_lib/ControllerTaskBase.hpp"
#include <wbc/controllers/ActivationFunction.hpp>
#include <base/Time.hpp>
 
namespace ctrl_lib {
 
class ControllerTask : public ControllerTaskBase
{
    friend class ControllerTaskBase;
protected:
    virtual bool readFeedback() = 0;
    virtual bool readSetpoint() = 0;
    virtual void updateController() = 0;
    virtual const base::VectorXd& computeActivation(wbc::ActivationFunction& activation_function) = 0;
 
    std::vector<std::string> field_names;
    wbc::ActivationFunction activation_function;
    base::VectorXd tmp;
    base::Time stamp;
 
public:
    ControllerTask(std::string const& name = "ctrl_lib::ControllerTask");
    ControllerTask(std::string const& name, RTT::ExecutionEngine* engine);
    ~ControllerTask(){}
    bool configureHook();
    bool startHook();
    void updateHook();
    void errorHook();
    void stopHook();
    void cleanupHook();
};
}
 
#endif