CentroidTransform.hpp

#ifndef __CENTROID_TRANSFORM_HPP__
#define __CENTROID_TRANSFORM_HPP__
 
#include <yarp/os/Bottle.h>
#include <yarp/os/Stamp.h>
 
#include <kdl/frames.hpp>
 
#include "StreamingDevice.hpp"
 
namespace roboticslab
{
 
class StreamingDevice;
 
class CentroidTransform
{
public:
    CentroidTransform();
 
    void registerStreamingDevice(StreamingDevice * streamingDevice)
    { this->streamingDevice = streamingDevice; }
 
    bool setTcpToCameraRotation(yarp::os::Bottle * b);
 
    void setPermanenceTime(double permanenceTime)
    { this->permanenceTime = permanenceTime; }
 
    bool acceptBottle(yarp::os::Bottle * b);
 
    bool processStoredBottle() const;
 
private:
    StreamingDevice * streamingDevice;
    double permanenceTime;
    yarp::os::Bottle lastBottle;
    yarp::os::Stamp lastAcquisition;
    KDL::Rotation rot_tcp_camera;
};
 
} // namespace roboticslab
 
#endif // __CENTROID_TRANSFORM_HPP__