Camera.hpp

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

#ifndef SIMULATION_MARSCAMERA_TASK_HPP
#define SIMULATION_MARSCAMERA_TASK_HPP

#include "mars/CameraBase.hpp"

namespace mars {

    class Camera : public CameraBase
    {
        friend class CameraBase;
    protected:
        base::samples::frame::Frame *image;
        std::vector<mars::sim::Pixel> marsImage;
        RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> ro_ptr;

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

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

        ~Camera();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();

        virtual void getData();
    };
}

#endif