LoopBackDriver.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */
 
#ifndef WBC_LOOPBACKDRIVER_TASK_HPP
#define WBC_LOOPBACKDRIVER_TASK_HPP
 
#include "wbc/LoopBackDriverBase.hpp"
#include <base/commands/Joints.hpp>
 
namespace wbc{

    class LoopBackDriver : public LoopBackDriverBase
    {
        friend class LoopBackDriverBase;
    protected:
        base::samples::Joints joint_state;
        base::commands::Joints command;
        double noise_std_dev;
 
 
    public:
        LoopBackDriver(std::string const& name = "wbc::LoopBackDriver");

        ~LoopBackDriver();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}
 
#endif