CartesianStateToRbsTask.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */
 
#ifndef WBC_CARTESIANSTATETORBSTASK_TASK_HPP
#define WBC_CARTESIANSTATETORBSTASK_TASK_HPP
 
#include "wbc/CartesianStateToRbsTaskBase.hpp"
#include <base/samples/RigidBodyState.hpp>
#include <base/samples/RigidBodyStateSE3.hpp>
 
namespace wbc{

    class CartesianStateToRbsTask : public CartesianStateToRbsTaskBase
    {
        friend class CartesianStateToRbsTaskBase;
    protected:
 
        typedef RTT::InputPort<base::samples::RigidBodyStateSE3> CartesianStateInputPort;
        typedef std::shared_ptr< RTT::InputPort<base::samples::RigidBodyStateSE3> > CartesianStateInputPortPtr;
        typedef RTT::OutputPort<base::samples::RigidBodyState> RbsOutputPort;
        typedef std::shared_ptr< RTT::OutputPort<base::samples::RigidBodyState> > RbsOutputPortPtr;
 
        typedef std::map<std::string, CartesianStateInputPortPtr> CartesianStateInputPortMap;
        typedef std::map<std::string, RbsOutputPortPtr> RbsOutputPortMap;
 
        base::samples::RigidBodyState toRigidBodyState(const base::samples::RigidBodyStateSE3& in);
 
        CartesianStateInputPortMap input_port_map;
        RbsOutputPortMap output_port_map;
 
    public:
        CartesianStateToRbsTask(std::string const& name = "wbc::CartesianStateToRbsTask");

        ~CartesianStateToRbsTask();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}
 
#endif