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<li class="navelem"><a class="el" href="dir_7b0a5d1507c7f681cbfa1deb5990c6ea.html">programs</a></li><li class="navelem"><a class="el" href="dir_15768b185b6e8b816adf0c89b30bfe65.html">streamingDeviceController</a></li> </ul>
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<div class="title">CentroidTransform.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="preprocessor">#ifndef __CENTROID_TRANSFORM_HPP__</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="preprocessor">#define __CENTROID_TRANSFORM_HPP__</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#include &lt;yarp/os/Bottle.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="preprocessor">#include &lt;yarp/os/Stamp.h&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160; </div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="preprocessor">#include &lt;kdl/frames.hpp&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="preprocessor">#include &quot;StreamingDevice.hpp&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;{</div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="keyword">class </span>StreamingDevice;</div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classroboticslab_1_1CentroidTransform.html"> 21</a></span>&#160;<span class="keyword">class </span><a class="code" href="classroboticslab_1_1CentroidTransform.html">CentroidTransform</a></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;{</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160; <a class="code" href="classroboticslab_1_1CentroidTransform.html#aa7ec227473fdbeb23bc948c80ae7d071">CentroidTransform</a>();</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; </div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classroboticslab_1_1CentroidTransform.html#a330cdceee971c24294c97a8b68d20576"> 28</a></span>&#160; <span class="keywordtype">void</span> <a class="code" href="classroboticslab_1_1CentroidTransform.html#a330cdceee971c24294c97a8b68d20576">registerStreamingDevice</a>(<a class="code" href="classroboticslab_1_1StreamingDevice.html">StreamingDevice</a> * streamingDevice)</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; { this-&gt;streamingDevice = streamingDevice; }</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classroboticslab_1_1CentroidTransform.html#a3eed406e2a69d837222f32538b4a0fe0">setTcpToCameraRotation</a>(yarp::os::Bottle * b);</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classroboticslab_1_1CentroidTransform.html#a0a8b890362b7d743b297aeaf3f589708"> 35</a></span>&#160; <span class="keywordtype">void</span> <a class="code" href="classroboticslab_1_1CentroidTransform.html#a0a8b890362b7d743b297aeaf3f589708">setPermanenceTime</a>(<span class="keywordtype">double</span> permanenceTime)</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; { this-&gt;permanenceTime = permanenceTime; }</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classroboticslab_1_1CentroidTransform.html#a742ffb1a068b31849f561b4fb48c4856">acceptBottle</a>(yarp::os::Bottle * b);</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classroboticslab_1_1CentroidTransform.html#adcfe9b2f0512aa4d6af5363dd83bf036">processStoredBottle</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; <a class="code" href="classroboticslab_1_1StreamingDevice.html">StreamingDevice</a> * streamingDevice;</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; <span class="keywordtype">double</span> permanenceTime;</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; yarp::os::Bottle lastBottle;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; yarp::os::Stamp lastAcquisition;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; KDL::Rotation rot_tcp_camera;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;};</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;} <span class="comment">// namespace roboticslab</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __CENTROID_TRANSFORM_HPP__</span></div>
<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html">roboticslab::CentroidTransform</a></div><div class="ttdef"><b>Definition:</b> CentroidTransform.hpp:22</div></div>
<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_a0a8b890362b7d743b297aeaf3f589708"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#a0a8b890362b7d743b297aeaf3f589708">roboticslab::CentroidTransform::setPermanenceTime</a></div><div class="ttdeci">void setPermanenceTime(double permanenceTime)</div><div class="ttdoc">Set new permanence time.</div><div class="ttdef"><b>Definition:</b> CentroidTransform.hpp:35</div></div>
<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_a330cdceee971c24294c97a8b68d20576"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#a330cdceee971c24294c97a8b68d20576">roboticslab::CentroidTransform::registerStreamingDevice</a></div><div class="ttdeci">void registerStreamingDevice(StreamingDevice *streamingDevice)</div><div class="ttdoc">Register handle to device.</div><div class="ttdef"><b>Definition:</b> CentroidTransform.hpp:28</div></div>
<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_a3eed406e2a69d837222f32538b4a0fe0"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#a3eed406e2a69d837222f32538b4a0fe0">roboticslab::CentroidTransform::setTcpToCameraRotation</a></div><div class="ttdeci">bool setTcpToCameraRotation(yarp::os::Bottle *b)</div><div class="ttdoc">Set TCP to camera frame.</div><div class="ttdef"><b>Definition:</b> CentroidTransform.cpp:23</div></div>
<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_a742ffb1a068b31849f561b4fb48c4856"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#a742ffb1a068b31849f561b4fb48c4856">roboticslab::CentroidTransform::acceptBottle</a></div><div class="ttdeci">bool acceptBottle(yarp::os::Bottle *b)</div><div class="ttdoc">Register or dismiss incoming bottle.</div><div class="ttdef"><b>Definition:</b> CentroidTransform.cpp:42</div></div>
<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_aa7ec227473fdbeb23bc948c80ae7d071"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#aa7ec227473fdbeb23bc948c80ae7d071">roboticslab::CentroidTransform::CentroidTransform</a></div><div class="ttdeci">CentroidTransform()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> CentroidTransform.cpp:18</div></div>
<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_adcfe9b2f0512aa4d6af5363dd83bf036"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#adcfe9b2f0512aa4d6af5363dd83bf036">roboticslab::CentroidTransform::processStoredBottle</a></div><div class="ttdeci">bool processStoredBottle() const</div><div class="ttdoc">Process last stored bottle.</div><div class="ttdef"><b>Definition:</b> CentroidTransform.cpp:60</div></div>
<div class="ttc" id="aclassroboticslab_1_1StreamingDevice_html"><div class="ttname"><a href="classroboticslab_1_1StreamingDevice.html">roboticslab::StreamingDevice</a></div><div class="ttdoc">Abstract class for a YARP streaming device.</div><div class="ttdef"><b>Definition:</b> StreamingDevice.hpp:46</div></div>
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:6</div></div>
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