Revision: 7351
http://playerstage.svn.sourceforge.net/playerstage/?rev=7351&view=rev
Author: natepak
Date: 2009-02-23 22:58:33 +0000 (Mon, 23 Feb 2009)
Log Message:
-----------
Improved PTZ and gripper interfaces
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/gazebo.h
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2009-02-23 22:53:56 UTC (rev
7350)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2009-02-23 22:58:33 UTC (rev
7351)
@@ -1284,6 +1284,9 @@
\{
*/
+#define GAZEBO_PTZ_POSITION_CONTROL 0
+#define GAZEBO_PTZ_VELOCITY_CONTROL 1
+
/// \brief PTZ data
class PTZData
{
@@ -1306,7 +1309,14 @@
/// Commanded field of view (radians)
public: float cmd_zoom;
-
+
+ /// Commanded pan speed (rad/s)
+ public: float cmd_pan_speed;
+
+ /// Commanded tilt (rad/s)
+ public: float cmd_tilt_speed;
+
+ public: unsigned int control_mode;
};
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