class stVisRobotR2S
{
 public:
  
  virtual inline int fileLoader(ifstream &inFile);

  virtual inline void getConfig( stConfigR2S &outConfig) const ;
  virtual inline void setConfig(const stConfigR2S &inConfig);

  virtual inline const stCLCamera & getCamera()const;
  virtual inline void  setCamera(const stCLCamera &inCamera);
  
  virtual inline point center()const 
    { return point(roboConfig_.x_,roboConfig_.y_);};

 protected:
  stConfigR2S roboConfig_;
  stCLCamera  CLCamera_;
  
};
int stVisRobotR2S ::fileLoader(ifstream &inFile)
{
  roboConfig_.fileLoader(inFile);
  CLCamera_.fileLoader(inFile);
}
void stVisRobotR2S :: getConfig( stConfigR2S &outConfig) const 
{
  outConfig = roboConfig_;
}
void stVisRobotR2S :: setConfig(const stConfigR2S &inConfig)
{
  roboConfig_ = inConfig;
  
  CLCamera_.setConfig(inConfig);
}

const stCLCamera & stVisRobotR2S ::  getCamera()const
{
  return CLCamera_;
}
void  stVisRobotR2S :: setCamera(const stCLCamera &inCamera)
{
  CLCamera_ = inCamera;
}