DepthCamera.hpp

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

#ifndef SIMULATION_MARSDEPTHCAMERA_TASK_HPP
#define SIMULATION_MARSDEPTHCAMERA_TASK_HPP

#include "mars/DepthCameraBase.hpp"

namespace mars {

    class DepthCamera : public DepthCameraBase
    {
        friend class DepthCameraBase;
    protected:
        base::samples::DistanceImage *image;
        RTT::extras::ReadOnlyPointer<base::samples::DistanceImage> ro_ptr;



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

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

         ~DepthCamera();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();

        virtual void getData();
    };
}

#endif