Task.hpp

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

#ifndef VIRTUAL_VIEW_TASK_TASK_HPP
#define VIRTUAL_VIEW_TASK_TASK_HPP

#include "virtual_view/TaskBase.hpp"

#include <projection/Homography.hpp>

namespace virtual_view {

    class Task : public TaskBase
    {
        friend class TaskBase;
    protected:

        projection::Homography hom;
        base::samples::frame::Frame viewFrame;

        void addCam( const base::Affine3d& cam2body, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame >& frame ); 

        virtual void cam1TransformerCallback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &cam1_sample);

        virtual void cam2TransformerCallback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &cam2_sample);

        virtual void cam3TransformerCallback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &cam3_sample);

        virtual void cam4TransformerCallback(const base::Time &ts, const ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > &cam4_sample);

    public:
        Task(std::string const& name = "virtual_view::Task");

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

        ~Task();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif