RbsToCartesianStateTask.hpp

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

    class RbsToCartesianStateTask : public RbsToCartesianStateTaskBase
    {
        friend class RbsToCartesianStateTaskBase;
    protected:
 
        typedef RTT::InputPort<base::samples::RigidBodyState> RbsInputPort;
        typedef std::shared_ptr< RTT::InputPort<base::samples::RigidBodyState> > RbsInputPortPtr;
        typedef RTT::OutputPort<base::samples::RigidBodyStateSE3> CartesianStateOutputPort;
        typedef std::shared_ptr< RTT::OutputPort<base::samples::RigidBodyStateSE3> > CartesianStateOutputPortPtr;
 
        typedef std::map<std::string, RbsInputPortPtr> RbsInputPortMap;
        typedef std::map<std::string, CartesianStateOutputPortPtr> CartesianStateOutputPortMap;
 
        base::samples::RigidBodyStateSE3 fromRigidBodyState(const base::samples::RigidBodyState& in);
 
        RbsInputPortMap input_port_map;
        CartesianStateOutputPortMap output_port_map;
 
    public:
        RbsToCartesianStateTask(std::string const& name = "wbc::RbsToCartesianStateTask");

        ~RbsToCartesianStateTask();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}
 
#endif