TransformerHelper.hpp

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#ifndef TRANSFORMERHELPER_H
#define TRANSFORMERHELPER_H

#include <rtt/TaskContext.hpp>
#include <smurf/Smurf.hpp>

namespace orocos_cpp
{

class TransformerHelper
{
private:
    static const size_t DEFAULT_CONNECTION_BUFFER_SIZE = 2500;
    RTT::ConnPolicy conPolicy;
    smurf::Robot robotConfiguration;
public:
    TransformerHelper(const smurf::Robot &robotConfiguration);
    
    bool configureTransformer(RTT::TaskContext *task);
    
    const RTT::ConnPolicy &getConnectionPolicy();
    void setConnectionPolicy(RTT::ConnPolicy &policy);
};

}//end of namespace
#endif // TRANSFORMERHELPER_H