Generic_PTZ.hh

00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /*
00022  * Desc: A generic ptz controller
00023  * Author: Nathan Koenig
00024  * Date: 26 Nov 2007
00025  * SVN: $Id$
00026  */
00027 
00028 #ifndef GENERIC_PTZ_HH
00029 #define GENERIC_PTZ_HH
00030 
00031 #include "Controller.hh"
00032 
00033 namespace gazebo
00034 {
00035   class HingeJoint;
00036   class PTZIface;
00037 
00040 
00059 
00060 
00061 
00062   class Generic_PTZ : public Controller
00063   {
00066     public: Generic_PTZ(Entity *parent);
00067   
00069     public: virtual ~Generic_PTZ();
00070   
00073     protected: virtual void LoadChild(XMLConfigNode *node);
00074   
00076     protected: virtual void InitChild();
00077   
00079     protected: virtual void UpdateChild(UpdateParams &params);
00080   
00082     protected: virtual void FiniChild();
00083               
00085     protected: virtual void ResetChild();
00086   
00088     private: void PutPTZData();
00089   
00091     private: PTZIface *ptzIface;
00092   
00094     private: Model *myParent;
00095 
00097     private: HingeJoint *panJoint;
00098 
00100     private: HingeJoint *tiltJoint;
00101 
00102     private: float motionGain;
00103     private: float force;
00104     private: float cmdTilt;
00105     private: float cmdPan;
00106   };
00107   
00109 
00110 
00111 }
00112 
00113 #endif
00114
Last updated Aug 04 2007