23 #ifndef _PLUGINS_PANTILT_DIRPERC_DP_THREAD_H_
24 #define _PLUGINS_PANTILT_DIRPERC_DP_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);
76 std::string pantilt_cfg_prefix_;
77 std::string ptu_cfg_prefix_;
78 std::string ptu_name_;
79 std::string cfg_device_;
80 unsigned int cfg_read_timeout_ms_;
85 WorkerThread(std::string ptu_name,
90 void goto_pantilt(
float pan,
float tilt);
91 void get_pantilt(
float &pan,
float &tilt);
94 bool has_fresh_data();
100 void exec_goto_pantilt(
float pan,
float tilt);