naxespositionviewer.hpp

#ifndef OROCOS_COMP_NAXESPOSITIONVIEWER_HPP
#define OROCOS_COMP_NAXESPOSITIONVIEWER_HPP
#include <vector>
#include <rtt/RTT.hpp>

#include <rtt/TaskContext.hpp>
#include <rtt/Ports.hpp>
#include <rtt/Properties.hpp>




#include <ocl/OCL.hpp>

namespace OCL {
class NAxesPositionViewer : public RTT::TaskContext
{
public:
  NAxesPositionViewer(const std::string& name,const std::string& propertyfilename="cpf/viewer.cpf");
  virtual ~NAxesPositionViewer();

private:
 const std::string _propertyfile;

public:
   virtual bool startup();

   virtual void update();

   virtual void shutdown();

protected:
    RTT::Property<int>                                 portnumber;
    RTT::Property<int>                                  num_axes;
    RTT::Property<bool>                                 seperate_ports;
    RTT::Property<std::string>                          port_name;
private:
    int                                                 _num_axes;
protected:
    std::vector<RTT::ReadDataPort<double>*>             seperateValues;
    RTT::ReadDataPort<std::vector<double> >*            vectorValue;
private:
   std::vector<double>                                 jointvec;
   void*                                               clientacceptor;
   int                                                 state;
            // 0 = stopped, 1 = want to startup, 2 = running
};

} // namespace Orocos

#endif // NAXESVELOCITYVIEWER

---