ogfusionI.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef OGFUSION_I_H
00011 #define OGFUSION_I_H
00012 
00013 #include <IceStorm/IceStorm.h>
00014 
00015 // include provided interfaces
00016 #include <orca/ogfusion.h>
00017 
00018 #include <orcaice/context.h>
00019 
00020 // utilities
00021 #include <gbxsickacfr/gbxiceutilacfr/buffer.h>
00022 
00023 namespace ognode
00024 {
00025 
00026 class OgFusionI : public orca::OgFusion
00027 {
00028 public:
00029     OgFusionI( orca::OgFusionConfig &config, 
00030                gbxiceutilacfr::Buffer<orca::OgFusionData> &OgFusionDataBuffer);
00031 
00032     virtual void setData(const orca::OgFusionData&, const Ice::Current&);
00033     virtual orca::OgFusionConfig getConfig(const ::Ice::Current&);
00034 
00035 private:
00036 
00037     //config
00038     orca::OgFusionConfig config_;
00039 
00040     //buffer
00041     gbxiceutilacfr::Buffer<orca::OgFusionData> &ogFusionDataBuffer_;
00042 
00043 };
00044 
00045 } // namespace
00046 
00047 #endif