bumblebee2_driver.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 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 Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _bumblebee2_driver_h_
00026 #define _bumblebee2_driver_h_
00027 
00028 #include <iri_base_driver/iri_base_driver.h>
00029 #include <iri_bumblebee2/Bumblebee2Config.h>
00030 
00031 //include bumblebee2_driver main library
00032 #include "bumblebee.h"
00033 #include "firewireserver.h"
00034 #include <camera_common.h>
00035 
00036 enum
00037 {
00038   LEFT=0,
00039   RIGHT=1
00040 };
00041 
00042 #define NUM_CAM 2
00043 
00063 class Bumblebee2Driver : public iri_base_driver::IriBaseDriver
00064 {
00065   private:
00066     // private attributes and methods
00067     // private attributes and methods
00068     CBumblebee *camera;
00069     CFirewireServer *server;
00070     // reconfigure attributes
00071     uint64_t camera_id;
00072     // default_configuration
00073     TCameraConfig default_conf;
00074     // current configuration
00075     TCameraConfig current_conf;
00076     // default_configuration
00077     TCameraConfig desired_conf;
00078     // calibration file
00079     std::vector<std::string> calibration_files;
00080     // frame identifier
00081     std::vector<std::string> frame_ids;
00082   protected:
00087     void change_config(TCameraConfig *new_conf);
00088   public:
00095     typedef iri_bumblebee2::Bumblebee2Config Config;
00096 
00103     Config config_;
00104 
00113     Bumblebee2Driver(void);
00114 
00125     bool openDriver(void);
00126 
00137     bool closeDriver(void);
00138 
00149     bool startDriver(void);
00150 
00161     bool stopDriver(void);
00162 
00174     void config_update(Config& new_cfg, uint32_t level=0);
00175 
00176     // here define all bumblebee2_driver interface methods to retrieve and set
00177     // the driver parameters
00182     void get_current_config(TCameraConfig *current_conf);
00187     void get_images(char **left_image,char **right_image);
00192     std::string get_new_frame_event(void);
00197     void get_calibration_files(std::vector<std::string> &calibration_files);
00202     void get_frame_ids(std::vector<std::string> &frame_ids);
00203 
00210     ~Bumblebee2Driver(void);
00211 };
00212 
00213 #endif


iri_bumblebee2
Author(s): Sergi Hernandez Juan
autogenerated on Fri Dec 6 2013 22:29:51