CameraInterface.hh

00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: Camera Interface for Player
00022  * Author: Nate Koenig
00023  * Date: 2 March 2006
00024  * CVS: $Id: CameraInterface.hh 123 2007-09-19 20:36:14Z natepak $
00025  */
00026 
00027 #ifndef CAMERAINTERFACE_HH
00028 #define CAMERAINTERFACE_HH
00029 
00030 #include "GazeboInterface.hh"
00031 
00032 
00033 namespace gazebo
00034 {
00040 
00041   class CameraIface;
00042 
00044   class CameraInterface : public GazeboInterface
00045   {
00047     public: CameraInterface(player_devaddr_t addr, GazeboDriver *driver,
00048                 ConfigFile *cf, int section);
00049 
00051     public: virtual ~CameraInterface();
00052 
00054     public: virtual int ProcessMessage(QueuePointer &respQueue,
00055                 player_msghdr_t *hdr, void *data);
00056 
00058     public: virtual void Update();
00059 
00062     public: virtual void Subscribe();
00063 
00066     public: virtual void Unsubscribe();
00067 
00069     private: void SaveFrame(const char *filename);
00070 
00071     private: CameraIface *iface;
00072 
00074     private: char *gz_id;
00075 
00077     private: double datatime;
00078 
00080     private: player_camera_data_t data;
00081 
00082     // Save image frames?
00083     private: int save;
00084     private: int frameno;
00085 
00086   };
00087 
00090 
00091 }
00092 
00093 #endif
Last updated Aug 04 2007