23 #ifndef __PLUGINS_PANTILT_SONY_EVID100P_THREAD_H_
24 #define __PLUGINS_PANTILT_SONY_EVID100P_THREAD_H_
26 #include "../act_thread.h"
28 #include <blackboard/interface_listener.h>
30 #ifdef USE_TIMETRACKER
31 # include <utils/time/tracker.h>
37 class PanTiltInterface;
48 std::string &ptu_cfg_prefix,
49 std::string &ptu_name);
62 protected:
virtual void run() { Thread::run(); }
69 std::string __pantilt_cfg_prefix;
70 std::string __ptu_cfg_prefix;
71 std::string __ptu_name;
72 std::string __cfg_device;
73 unsigned int __cfg_read_timeout_ms;
81 const float &pan_min,
const float &pan_max,
82 const float &tilt_min,
const float &tilt_max);
85 void goto_pantilt(
float pan,
float tilt);
86 void get_pantilt(
float &pan,
float &tilt);
87 void set_velocities(
float pan_vel,
float tilt_vel);
90 bool has_fresh_data();
96 void exec_goto_pantilt(
float pan,
float tilt);