Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * pantilt.h - Abstract class defining a pan/tilt camera controller 00004 * 00005 * Created: Tue Apr 21 22:39:20 2009 00006 * Copyright 2009 Tobias Kellner 00007 * 2005-2009 Tim Niemueller [www.niemueller.de] 00008 * 00009 ****************************************************************************/ 00010 00011 /* This program is free software; you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation; either version 2 of the License, or 00014 * (at your option) any later version. A runtime exception applies to 00015 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00016 * 00017 * This program is distributed in the hope that it will be useful, 00018 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00019 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00020 * GNU Library General Public License for more details. 00021 * 00022 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00023 */ 00024 00025 #ifndef __FIREVISION_CAMS_CONTROL_PANTILT_H_ 00026 #define __FIREVISION_CAMS_CONTROL_PANTILT_H_ 00027 00028 #include <cams/control/control.h> 00029 00030 namespace firevision { 00031 #if 0 /* just to make Emacs auto-indent happy */ 00032 } 00033 #endif 00034 00035 class CameraControlPanTilt : virtual public CameraControl 00036 { 00037 public: 00038 virtual ~CameraControlPanTilt(); 00039 00040 virtual void process_pantilt() = 0; 00041 00042 virtual bool supports_pan() = 0; 00043 virtual bool supports_tilt() = 0; 00044 virtual void set_pan(int pan) = 0; 00045 virtual void set_tilt(int tilt) = 0; 00046 virtual void set_pan_tilt(int pan, int tilt) = 0; 00047 virtual void set_pan_tilt_rad(float pan, float tilt) = 0; 00048 virtual int pan() = 0; 00049 virtual int tilt() = 0; 00050 virtual void start_get_pan_tilt() = 0; 00051 virtual void pan_tilt(int &pan, int &tilt) = 0; 00052 virtual void pan_tilt_rad(float &pan, float &tilt) = 0; 00053 virtual int min_pan() = 0; 00054 virtual int max_pan() = 0; 00055 virtual int min_tilt() = 0; 00056 virtual int max_tilt() = 0; 00057 virtual void reset_pan_tilt() = 0; 00058 virtual void set_pan_tilt_limit(int pan_left, int pan_right, 00059 int tilt_up, int tilt_down) = 0; 00060 virtual void reset_pan_tilt_limit() = 0; 00061 }; 00062 00063 } // end namespace firevision 00064 00065 #endif // __FIREVISION_CAMS_CONTROL_PANTILT_H_