camera_configurations.h
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00033 #ifndef _CAMERA_CONFIGURATIONS_H_
00034 #define _CAMERA_CONFIGURATIONS_H_
00035 
00036 #include <ros/ros.h>
00037 
00038 #include <cmath>
00039 
00040 #include <geometry_msgs/Vector3.h>
00041 
00042 #include "object_manipulator/tools/exceptions.h"
00043 
00044 #include "configuration_loader.h"
00045 
00046 namespace object_manipulator {
00047 
00048 class CameraConfigurations : public ConfigurationLoader
00049 {
00050  private:
00051 
00052  public:
00053  CameraConfigurations() {}
00054 
00055   inline std::vector< double > get_camera_pose( std::string position_name )
00056   {
00057     std::string name = "/im_camera_configurations/" + position_name;
00058     std::vector<double> values = getVectorDoubleParam(name);
00059     if (values.size() != 6) throw BadParamException(name);
00060     return values;
00061   }
00062 };
00063 
00065 inline CameraConfigurations& cameraConfigurations()
00066 {
00067   static CameraConfigurations camera_configs;
00068   return camera_configs;
00069 }
00070 
00071 } //namespace object_manipulator
00072 
00073 #endif


object_manipulator
Author(s): Matei Ciocarlie and Kaijen Hsiao
autogenerated on Thu Jan 2 2014 11:39:04