OmnicamPlanar.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */

#ifndef PROJECTION_OMNICAMPLANAR_TASK_HPP
#define PROJECTION_OMNICAMPLANAR_TASK_HPP

#include "projection/OmnicamPlanarBase.hpp"
#include <frame_helper/FrameHelper.h>
#include <projection/Omnidirectional.hpp>

namespace projection {

    class OmnicamPlanar : public OmnicamPlanarBase
    {
        friend class OmnicamPlanarBase;
    protected:

        projection::omnicam::PlanarProjection planarProjection;
        RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> viewFrame, omniFrame;
        base::samples::frame::Frame tmpFrame;
        frame_helper::FrameHelper frameHelper;


    public:
        OmnicamPlanar(std::string const& name = "projection::OmnicamPlanar");

        OmnicamPlanar(std::string const& name, RTT::ExecutionEngine* engine);

        ~OmnicamPlanar();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif