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/* |
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* Copyright 2011, Nicolas Mansard, LAAS-CNRS |
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* |
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*/ |
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#ifndef __sot_core_VisualPointProjecter_H__ |
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#define __sot_core_VisualPointProjecter_H__ |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(visual_point_projecter_EXPORTS) |
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#define SOTVISUALPOINTPROJECTER_EXPORT __declspec(dllexport) |
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#else |
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#define SOTVISUALPOINTPROJECTER_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define SOTVISUALPOINTPROJECTER_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* Matrix */ |
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#include <dynamic-graph/linear-algebra.h> |
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#include <sot/core/matrix-geometry.hh> |
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/* SOT */ |
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#include <dynamic-graph/entity-helper.h> |
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#include <dynamic-graph/signal-helper.h> |
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namespace dynamicgraph { |
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namespace sot { |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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class SOTVISUALPOINTPROJECTER_EXPORT VisualPointProjecter |
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: public ::dynamicgraph::Entity, |
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public ::dynamicgraph::EntityHelper<VisualPointProjecter> { |
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public: /* --- CONSTRUCTOR ---- */ |
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VisualPointProjecter(const std::string &name); |
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public: /* --- ENTITY INHERITANCE --- */ |
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static const std::string CLASS_NAME; |
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virtual void display(std::ostream &os) const; |
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virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
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public: /* --- SIGNALS --- */ |
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DECLARE_SIGNAL_IN(point3D, dynamicgraph::Vector); |
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DECLARE_SIGNAL_IN(transfo, MatrixHomogeneous); |
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DECLARE_SIGNAL_OUT(point3Dgaze, dynamicgraph::Vector); |
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DECLARE_SIGNAL_OUT(depth, double); |
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DECLARE_SIGNAL_OUT(point2D, dynamicgraph::Vector); |
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}; // class VisualPointProjecter |
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} // namespace sot |
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} // namespace dynamicgraph |
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#endif // #ifndef __sot_core_VisualPointProjecter_H__ |