Index: trunk/include/FlairSensorActuator/Camera.h
===================================================================
--- trunk/include/FlairSensorActuator/Camera.h	(revision 36)
+++ trunk/include/FlairSensorActuator/Camera.h	(revision 44)
@@ -19,11 +19,11 @@
 
 namespace flair {
-namespace gui {
-class GroupBox;
-class Tab;
-class TabWidget;
-class Picture;
-class GridLayout;
-}
+	namespace gui {
+		class GroupBox;
+		class Tab;
+		class TabWidget;
+		class Picture;
+		class GridLayout;
+	}
 }
 
@@ -122,5 +122,26 @@
 
   core::DataType const &GetOutputDataType() const;
-
+	
+	/*!
+	\enum LogFormat
+	\brief log formats
+	*/
+	enum class LogFormat {
+		NONE, /*!< by default, no logging */
+		RAW, /*!< raw format */
+		JPG, /*!< jpg format */
+	};
+	
+	/*!
+	* \brief Set log format
+	*
+	* Set the log format. \n
+	* Logging of the camera will be disabled if this method is not called. \n
+	* Calling this method enables logging of camera.
+	*
+	* \param LogFormat log format
+	*/
+  void SetLogFormat(LogFormat logFormat);
+void ProcessUpdate(core::io_data* data);
 protected:
   /*!
@@ -138,4 +159,5 @@
   gui::GroupBox *setup_groupbox;
   gui::GridLayout *setup_layout;
+	LogFormat logFormat;
 };
 } // end namespace sensor
Index: trunk/include/FlairSensorActuator/VrpnClient.h
===================================================================
--- trunk/include/FlairSensorActuator/VrpnClient.h	(revision 36)
+++ trunk/include/FlairSensorActuator/VrpnClient.h	(revision 44)
@@ -18,12 +18,11 @@
 
 namespace flair {
-namespace core {
-class FrameworkManager;
-class SerialPort;
-}
-namespace gui {
-class TabWidget;
-class Layout;
-}
+	namespace core {
+		class SerialPort;
+	}
+	namespace gui {
+		class TabWidget;
+		class Layout;
+	}
 }
 
@@ -35,5 +34,7 @@
 /*! \class VrpnClient
 *
-* \brief Class to connect to a Vrpn server
+* \brief Class to connect to a Vrpn server. The Thread is created with 
+*  the FrameworkManager as parent. FrameworkManager must be created before.
+* Only one instance of this class is allowed by program.
 */
 class VrpnClient : public core::Thread {
@@ -46,5 +47,4 @@
   * Construct a VrpnClient. Connection is done by IP.
   *
-  * \param parent parent
   * \param name name
   * \param address server address
@@ -52,5 +52,5 @@
   * \param priority priority of the Thread
   */
-  VrpnClient(const core::FrameworkManager *parent, std::string name,
+  VrpnClient(std::string name,
              std::string address, uint16_t us_period, uint8_t priority);
 
@@ -60,5 +60,4 @@
   * Construct a VrpnClient. Connection is done by XBee modem.
   *
-  * \param parent parent
   * \param name name
   * \param serialport SerialPort for XBee modem
@@ -66,5 +65,5 @@
   * \param priority priority of the Thread
   */
-  VrpnClient(const core::FrameworkManager *parent, std::string name,
+  VrpnClient(std::string name,
              core::SerialPort *serialport, uint16_t us_period,
              uint8_t priority);
@@ -108,4 +107,12 @@
   class VrpnClient_impl *pimpl_;
 };
+
+/*!
+* \brief get VrpnClient
+*
+* \return the VrpnClient
+*/
+VrpnClient *GetVrpnClient(void);
+
 } // end namespace sensor
 } // end namespace flair
Index: trunk/include/FlairSensorActuator/VrpnObject.h
===================================================================
--- trunk/include/FlairSensorActuator/VrpnObject.h	(revision 36)
+++ trunk/include/FlairSensorActuator/VrpnObject.h	(revision 44)
@@ -19,15 +19,15 @@
 
 namespace flair {
-namespace core {
-class cvmatrix;
-class Vector3D;
-class Euler;
-class Quaternion;
-}
-namespace gui {
-class TabWidget;
-class Tab;
-class DataPlot1D;
-}
+	namespace core {
+		class cvmatrix;
+		class Vector3D;
+		class Euler;
+		class Quaternion;
+	}
+	namespace gui {
+		class TabWidget;
+		class Tab;
+		class DataPlot1D;
+	}
 }
 
@@ -41,5 +41,6 @@
 /*! \class VrpnObject
 *
-* \brief Class for VRPN object
+* \brief Class for VRPN object. The IODevice is created with 
+*  the VrpnClient as parent. VrpnClient must be created before.
 */
 class VrpnObject : public core::IODevice {
@@ -53,9 +54,8 @@
   * Construct a VrpnObject. Connection is done by IP.
   *
-  * \param parent parent
   * \param name VRPN object name, should be the same as defined in the server
   * \param tab Tab for the user interface
   */
-  VrpnObject(const VrpnClient *parent, std::string name,
+  VrpnObject(std::string name,
              const gui::TabWidget *tab);
 
@@ -65,10 +65,9 @@
   * Construct a VrpnObject. Connection is done by IP.
   *
-  * \param parent parent
   * \param name name
   * \param id VRPN object id, should be the same as defined in the server
   * \param tab Tab for the user interface
   */
-  VrpnObject(const VrpnClient *parent, std::string name, uint8_t id,
+  VrpnObject(std::string name, uint8_t id,
              const gui::TabWidget *tab);
 
