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);
52 virtual void finalize();
59 void update_sensor_values();
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);
Base class for all messages passed through interfaces in Fawkes BlackBoard.
Fawkes library namespace.
virtual void run()
Code to execute in the thread.
Thread class encapsulation of pthreads.
Base class for all Fawkes BlackBoard interfaces.
Sony EviD100P Visca controller.
PanTiltInterface Fawkes BlackBoard Interface.
virtual void run()
Stub to see name in backtrace for easier debugging.
Mutex mutual exclusion lock.
PanTilt act thread for the PTU part of the Sony EviD100P camera.
BlackBoard interface listener.