#include <DepthCamera.hpp>

Inheritance diagram for mars::DepthCamera:

Public Member Functions
	DepthCamera (std::string const &name="mars::DepthCamera")

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

	~DepthCamera ()

bool	configureHook ()
	The following lines are template definitions for the various state machine. More...

bool	startHook ()

void	updateHook ()

void	errorHook ()

void	stopHook ()

void	cleanupHook ()

virtual void	getData ()

Protected Attributes
base::samples::DistanceImage *	image

RTT::extras::ReadOnlyPointer< base::samples::DistanceImage >	ro_ptr

Friends
class	DepthCameraBase

Detailed Description

Used coordinate system: For both the scene frame and the image plane the x-axis points right. The the y-axis of the scene frame points downwards, the one of the image plane upwards. And the z-axis of the scene frame points towards the image plane.

Constructor & Destructor Documentation

◆ DepthCamera() [1/2]

DepthCamera::DepthCamera ( std::string const & name = "mars::DepthCamera" )

TaskContext constructor for DepthCamera

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.
initial_state	The initial TaskState of the TaskContext. Default is Stopped state.

◆ DepthCamera() [2/2]

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

TaskContext constructor for DepthCamera

Parameters

name	Name of the task. This name needs to be unique to make it identifiable for nameservices.
engine	The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.

◆ ~DepthCamera()

DepthCamera::~DepthCamera ( )

Default deconstructor of DepthCamera

Member Function Documentation

◆ cleanupHook()

void DepthCamera::cleanupHook ( )

This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.

◆ configureHook()

bool DepthCamera::configureHook ( )

The following lines are template definitions for the various state machine.

This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.

It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):

task_context "TaskName" do
  needs_configuration
  ...
end

◆ errorHook()

void DepthCamera::errorHook ( )

This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.

Call recover() to go back in the Runtime state.

◆ getData()

void DepthCamera::getData ( )

virtual

◆ startHook()

bool DepthCamera::startHook ( )

This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.

◆ stopHook()

void DepthCamera::stopHook ( )

This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

◆ updateHook()

void DepthCamera::updateHook ( )

This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.

The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.

In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.

Friends And Related Function Documentation

◆ DepthCameraBase

friend class DepthCameraBase

friend

Member Data Documentation

◆ image

base::samples::DistanceImage* mars::DepthCamera::image

protected

◆ ro_ptr

RTT::extras::ReadOnlyPointer<base::samples::DistanceImage> mars::DepthCamera::ro_ptr