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+<li class="navelem"><a class="el" href="dir_7b0a5d1507c7f681cbfa1deb5990c6ea.html">programs</a></li><li class="navelem"><a class="el" href="dir_15768b185b6e8b816adf0c89b30bfe65.html">streamingDeviceController</a></li>  </ul>
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+  <div class="headertitle"><div class="title">CentroidTransform.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#ifndef __CENTROID_TRANSFORM_HPP__</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#define __CENTROID_TRANSFORM_HPP__</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;yarp/os/Bottle.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;yarp/os/Stamp.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;kdl/frames.hpp&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;StreamingDevice.hpp&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceroboticslab.html">roboticslab</a></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="keyword">class </span>StreamingDevice;</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
+<div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classroboticslab_1_1CentroidTransform.html">   21</a></span><span class="keyword">class </span><a class="code hl_class" href="classroboticslab_1_1CentroidTransform.html">CentroidTransform</a></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <a class="code hl_function" href="classroboticslab_1_1CentroidTransform.html#aa7ec227473fdbeb23bc948c80ae7d071">CentroidTransform</a>();</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="foldopen" id="foldopen00028" data-start="{" data-end="}">
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="classroboticslab_1_1CentroidTransform.html#a330cdceee971c24294c97a8b68d20576">   28</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classroboticslab_1_1CentroidTransform.html#a330cdceee971c24294c97a8b68d20576">registerStreamingDevice</a>(<a class="code hl_class" href="classroboticslab_1_1StreamingDevice.html">StreamingDevice</a> * streamingDevice)</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    { this-&gt;streamingDevice = streamingDevice; }</div>
+</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classroboticslab_1_1CentroidTransform.html#a3eed406e2a69d837222f32538b4a0fe0">setTcpToCameraRotation</a>(yarp::os::Bottle * b);</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="foldopen" id="foldopen00035" data-start="{" data-end="}">
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classroboticslab_1_1CentroidTransform.html#a0a8b890362b7d743b297aeaf3f589708">   35</a></span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classroboticslab_1_1CentroidTransform.html#a0a8b890362b7d743b297aeaf3f589708">setPermanenceTime</a>(<span class="keywordtype">double</span> permanenceTime)</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    { this-&gt;permanenceTime = permanenceTime; }</div>
+</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classroboticslab_1_1CentroidTransform.html#a742ffb1a068b31849f561b4fb48c4856">acceptBottle</a>(yarp::os::Bottle * b);</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classroboticslab_1_1CentroidTransform.html#adcfe9b2f0512aa4d6af5363dd83bf036">processStoredBottle</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <a class="code hl_class" href="classroboticslab_1_1StreamingDevice.html">StreamingDevice</a> * streamingDevice;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="keywordtype">double</span> permanenceTime;</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    yarp::os::Bottle lastBottle;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    yarp::os::Stamp lastAcquisition;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    KDL::Rotation rot_tcp_camera;</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>};</div>
+</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>} <span class="comment">// namespace roboticslab</span></div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="preprocessor">#endif </span><span class="comment">// __CENTROID_TRANSFORM_HPP__</span></div>
+<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html">roboticslab::CentroidTransform</a></div><div class="ttdef"><b>Definition</b> CentroidTransform.hpp:22</div></div>
+<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_a0a8b890362b7d743b297aeaf3f589708"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#a0a8b890362b7d743b297aeaf3f589708">roboticslab::CentroidTransform::setPermanenceTime</a></div><div class="ttdeci">void setPermanenceTime(double permanenceTime)</div><div class="ttdoc">Set new permanence time.</div><div class="ttdef"><b>Definition</b> CentroidTransform.hpp:35</div></div>
+<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_a330cdceee971c24294c97a8b68d20576"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#a330cdceee971c24294c97a8b68d20576">roboticslab::CentroidTransform::registerStreamingDevice</a></div><div class="ttdeci">void registerStreamingDevice(StreamingDevice *streamingDevice)</div><div class="ttdoc">Register handle to device.</div><div class="ttdef"><b>Definition</b> CentroidTransform.hpp:28</div></div>
+<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_a3eed406e2a69d837222f32538b4a0fe0"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#a3eed406e2a69d837222f32538b4a0fe0">roboticslab::CentroidTransform::setTcpToCameraRotation</a></div><div class="ttdeci">bool setTcpToCameraRotation(yarp::os::Bottle *b)</div><div class="ttdoc">Set TCP to camera frame.</div><div class="ttdef"><b>Definition</b> CentroidTransform.cpp:23</div></div>
+<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_a742ffb1a068b31849f561b4fb48c4856"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#a742ffb1a068b31849f561b4fb48c4856">roboticslab::CentroidTransform::acceptBottle</a></div><div class="ttdeci">bool acceptBottle(yarp::os::Bottle *b)</div><div class="ttdoc">Register or dismiss incoming bottle.</div><div class="ttdef"><b>Definition</b> CentroidTransform.cpp:42</div></div>
+<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_aa7ec227473fdbeb23bc948c80ae7d071"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#aa7ec227473fdbeb23bc948c80ae7d071">roboticslab::CentroidTransform::CentroidTransform</a></div><div class="ttdeci">CentroidTransform()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> CentroidTransform.cpp:18</div></div>
+<div class="ttc" id="aclassroboticslab_1_1CentroidTransform_html_adcfe9b2f0512aa4d6af5363dd83bf036"><div class="ttname"><a href="classroboticslab_1_1CentroidTransform.html#adcfe9b2f0512aa4d6af5363dd83bf036">roboticslab::CentroidTransform::processStoredBottle</a></div><div class="ttdeci">bool processStoredBottle() const</div><div class="ttdoc">Process last stored bottle.</div><div class="ttdef"><b>Definition</b> CentroidTransform.cpp:60</div></div>
+<div class="ttc" id="aclassroboticslab_1_1StreamingDevice_html"><div class="ttname"><a href="classroboticslab_1_1StreamingDevice.html">roboticslab::StreamingDevice</a></div><div class="ttdoc">Abstract class for a YARP streaming device.</div><div class="ttdef"><b>Definition</b> StreamingDevice.hpp:46</div></div>
+<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition</b> groups.dox:6</div></div>
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