ptu_manager.h

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#ifndef PTU_MANAGER_H
#define PTU_MANAGER_H

#ifndef Q_MOC_RUN
#include <ros/ros.h>
#include <ptu_controller/PTUController.h>
#endif
#include <QObject>

class PTU_Manager : public QObject
{
    Q_OBJECT

public:
    PTU_Manager(double pan_min_angle, double pan_max_angle, double tilt_min_angle, double tilt_max_angle, int pan_step_count, int tilt_step_count);
    bool setStartPose();
    bool nextPose();
    bool setNeutralPose();
    void ptu_callback(double pan, double tilt);
    void sendJoint(double pan, double tilt, bool wait);
    double getPan();
    double getTilt();
signals:
    void ptu_moved(double pan, double tilt);
protected:
    double pan_min_angle;
    double pan_max_angle;
    double tilt_min_angle;
    double tilt_max_angle;
    double pan_stepsize;
    double tilt_stepsize;
    int pan_step_count;
    int tilt_step_count;

    double currentPan;
    double currentTilt;

    int pan_step;
    int tilt_step;
    int pan_step_add;
    asr_flir_ptu_controller::PTUController* controller;
    //PTUMovementEndedCallbackPtr callbackPtr;
};



#endif // PTU_MANAGER_H