00001 #ifndef PTUCONTROLLERCLIENT_H 00002 #define PTUCONTROLLERCLIENT_H 00003 #include <ros/ros.h> 00004 #include <actionlib/client/simple_action_client.h> 00005 #include <actionlib/client/terminal_state.h> 00006 #include <asr_flir_ptu_controller/PTUMovementAction.h> 00007 #include <boost/thread.hpp> 00008 class PTUControllerClient { 00009 public: 00010 PTUControllerClient(std::string name); 00011 void sendJoint(double pan, double tilt, bool wait); 00012 void checkValidation(double maxPan, double minPan, double maxTilt, double minTilt); 00013 actionlib::SimpleClientGoalState testFunction(double pan, double tilt); 00014 actionlib::SimpleActionClient<asr_flir_ptu_controller::PTUMovementAction> actionClient; 00015 00016 private: 00017 asr_flir_ptu_controller::PTUMovementGoal goal; 00018 }; 00019 #endif // PTUCONTROLLERCLIENT_H