services.h

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//=================================================================================================
// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

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#ifndef HECTOR_POSE_ESTIMATION_RTT_SERVICES_H
#define HECTOR_POSE_ESTIMATION_RTT_SERVICES_H

#include <rtt/Service.hpp>
#include <hector_pose_estimation/system.h>
#include <hector_pose_estimation/measurement.h>

namespace hector_pose_estimation {

class SystemService : public RTT::Service
{
private:
  System *system;

public:
  SystemService(RTT::TaskContext *owner, const SystemPtr& system, const std::string& name = std::string());
  virtual ~SystemService();
};

class MeasurementService : public RTT::Service
{
private:
  Measurement *measurement;

public:
  MeasurementService(RTT::TaskContext *owner, const MeasurementPtr& measurement, const std::string& name = std::string());
  virtual ~MeasurementService();
};

void registerParamAsProperty(ParameterPtr&, RTT::PropertyBag*);

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_RTT_SERVICES_H