18 #ifndef SUTRA_RTC_CACAO_H_
19 #define SUTRA_RTC_CACAO_H_
27 template <
typename Tin,
typename Tcomp,
typename Tout>
30 std::shared_ptr<ipc::Cacao<Tin>> interface_raw_frame_;
31 std::shared_ptr<ipc::Cacao<float>> interface_cal_frame_;
32 std::shared_ptr<ipc::Cacao<Tcomp>> interface_loop_frame_;
33 std::shared_ptr<ipc::Cacao<Tout>> interface_commands_;
35 std::string interface_raw_frame_name_;
36 std::string interface_cal_frame_name_;
37 std::string interface_loop_frame_name_;
38 std::string interface_commands_name_;
49 SutraRtcCacao(std::string interface_cal_frame_name, std::string interface_loop_frame_name);
55 void allocate_buffers();
this class provides the rtc_cacao features to COMPASS
SutraRtcCacao(std::string interface_cal_frame_name, std::string interface_loop_frame_name)
this class provides the rtc features to COMPASS