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 class CameraControlPanTilt : virtual public CameraControl
00031 {
00032  public:
00033   virtual ~CameraControlPanTilt();
00034
00035   virtual void process_pantilt()                                        = 0;
00036
00037   virtual bool supports_pan()                                           = 0;
00038   virtual bool supports_tilt()                                          = 0;
00039   virtual void set_pan(int pan)                                         = 0;
00040   virtual void set_tilt(int tilt)                                       = 0;
00041   virtual void set_pan_tilt(int pan, int tilt)                          = 0;
00042   virtual void set_pan_tilt_rad(float pan, float tilt)                  = 0;
00043   virtual int  pan()                                                    = 0;
00044   virtual int  tilt()                                                   = 0;
00045   virtual void start_get_pan_tilt()                                     = 0;
00046   virtual void pan_tilt(int &pan, int &tilt)                            = 0;
00047   virtual void pan_tilt_rad(float &pan, float &tilt)                    = 0;
00048   virtual int  min_pan()                                                = 0;
00049   virtual int  max_pan()                                                = 0;
00050   virtual int  min_tilt()                                               = 0;
00051   virtual int  max_tilt()                                               = 0;
00052   virtual void reset_pan_tilt()                                         = 0;
00053   virtual void set_pan_tilt_limit(int pan_left, int pan_right,
00054                                   int tilt_up, int tilt_down)           = 0;
00055   virtual void reset_pan_tilt_limit()                                   = 0;
00056 };
00057
00058 #endif // __FIREVISION_CAMS_CONTROL_PANTILT_H_