AzElTarget.h

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#ifndef AZELTARGET_H
#define AZELTARGET_H

#include "gcp/util/common/DriveMode.h"

#include "gcp/util/common/Axis.h"
#include "gcp/antenna/control/specific/DriveAxis.h"

namespace gcp {
  namespace antenna {
    namespace control {
      
      class Tracker;
      class SzaTracker;
      class SptTracker;
      
      class AzElTarget {
    
      public:
    
    gcp::antenna::control::DriveAxis* 
      DriveAxis(gcp::util::Axis::Type axis);
    
    gcp::util::DriveMode::Mode getMode();
    
    void setMode(gcp::util::DriveMode::Mode mode);
    
    void packMode(unsigned* u_elements);

    void packRawAngles(double* s_elements);
    
    virtual void packRawRates(signed* s_elements);
    
      private:
    
    friend class Tracker;
    friend class SzaTracker;
    friend class SptTracker;
    
    gcp::util::DriveMode::Mode mode_;   // The pmac mode 
    
    // The encoder positions and rates of the azimuth drive

    gcp::antenna::control::DriveAxis az_; 
    
    // The encoder positions and rates of the elevation drive

    gcp::antenna::control::DriveAxis el_; 
    
      }; // End class AzElTarget
      
    }; // End namespace control
  }; // End namespace antenna
}; // End namespace gcp

#endif // End #ifndef