D:/Documents/mediTEC Projects/CRA/master/include/CRA/DefaultLocalizer.h

/*
 *  Copyright (C) 2010 - 2013 Leonid Kostrykin
 *
 *  Chair of Medical Engineering (mediTEC)
 *  RWTH Aachen University
 *  Pauwelsstr. 20
 *  52074 Aachen
 *  Germany
 *
 */

#ifndef DEFAULTLOCALIZER_H_2521354512
#define DEFAULTLOCALIZER_H_2521354512

#include "cra_global.h"
#include "Localizer.h"

namespace CRA
{



// ----------------------------------------------------------------------------------
// DefaultLocalizer
// ----------------------------------------------------------------------------------

class CRA_EXPORT DefaultLocalizer : public Localizer
{

public:

    enum State
    {
        ready,  
        asleep  
    };


    struct illegalIniFile {};
    
    struct missingIniFile {};


    DefaultLocalizer( const std::string& iniFile );

    virtual ~DefaultLocalizer();


    virtual bool fetch( const std::string& port, Transformation& out );


    void requestState( State );


    void loadFromIni( const std::string& iniFile );


private:

    class Details;

    const std::unique_ptr< Details > pimpl;

}; // DefaultLocalizer



}  // namespace CRA

#endif // DEFAULTLOCALIZER_H_2521354512