CameraPlugin.hpp

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

#ifndef SIMULATION_CAMERAPLUGIN_TASK_HPP
#define SIMULATION_CAMERAPLUGIN_TASK_HPP

#include "mars/CameraPluginBase.hpp"
#include <mars/interfaces/sim/SimulatorInterface.h>
#include <mars/interfaces/graphics/GraphicsManagerInterface.h>
#include <mars/sim/CameraSensor.h>

namespace mars {

    class CameraPlugin : public CameraPluginBase, public mars::interfaces::GraphicsUpdateInterface
    {
        friend class CameraPluginBase;
    protected:
        long sensor_id;
        int width;
        int height;
        double lastUpdateTime;
        double lastGrabTime;
        mars::sim::CameraSensor *camera;
        double frameDelay;
        bool isPeriodic;
    private:
        virtual void postGraphicsUpdate(void );
        virtual void update(mars::interfaces::sReal time_ms);

    public:
        CameraPlugin(std::string const& name = "mars::CameraPlugin");

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

        ~CameraPlugin();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    
        virtual void getData();
    };
}

#endif