YarpStateDirector.hpp

// Authors: see AUTHORS.md at project root.
// CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
// URL: https://github.com/asrob-uc3m/robotDevastation
 
#ifndef __RD_YARP_STATE_DIRECTOR_HPP__
#define __RD_YARP_STATE_DIRECTOR_HPP__
 
#include <yarp/os/PeriodicThread.h>
 
#include "StateDirector.hpp"
#include "State.hpp"
 
namespace rd {
 
class YarpStateDirector : public StateDirector, private yarp::os::PeriodicThread
{
public:
    YarpStateDirector(State * state);
 
    virtual bool Start();
    virtual bool Stop();
 
    void run();
 
    static const int DEFAULT_RATE_MS;
 
};
 
}
#endif // __RD_YARP_STATE_DIRECTOR_HPP__