DirectedPerceptionPTU Class Reference

DirectedPerception PTU implementation. More...

#include <dp_ptu.h>

Public Member Functions
	DirectedPerceptionPTU (const char *device_file, unsigned int timeout_ms=10)
	Constructor.
virtual	~DirectedPerceptionPTU ()
	Destructor.
virtual void	set_pan_tilt_rad (float pan, float tilt)
	Set pan and tilt in radians.
virtual void	get_pan_tilt_rad (float &pan, float &tilt)
	Get pan/tilt in radians.
virtual void	get_limits (float &pan_min, float &pan_max, float &tilt_min, float &tilt_max)
	Get position limits in radians.
virtual void	reset ()
	Reset the PTU.
virtual void	stop_motion ()
	Stop currently running motion.
virtual void	set_pan (int pan)
	Set pan in motor ticks.
virtual void	set_tilt (int tilt)
	Set tilt in motor ticks.
virtual void	set_pan_tilt (int pan, int tilt)
	Set pan and tilt in motor ticks.
virtual int	get_pan ()
	Get current pan in motor ticks.
virtual int	get_tilt ()
	Get current tilt in motor ticks.
virtual void	get_pan_tilt (int &pan, int &tilt)
	Get current position in motor ticks.
virtual int	min_pan ()
	Get minimum pan in motor ticks.
virtual int	max_pan ()
	Get maximum pan in motor ticks.
virtual int	min_tilt ()
	Get minimum tilt in motor ticks.
virtual int	max_tilt ()
	Get maximum tilt in motor ticks.

Detailed Description

DirectedPerception PTU implementation.

Control object to use the DirectedPerception PTU Pan/Tilt unit mounted on carl.

Author:: Tim Niemueller

Definition at line 30 of file dp_ptu.h.

Constructor & Destructor Documentation

DirectedPerceptionPTU::DirectedPerceptionPTU	(	const char *	device_file,
		unsigned int	timeout_ms = `10`
	)

Constructor.

Parameters:

	device_file	serial device file (e.g. /dev/ttyS0)
	timeout_ms	timeout for read operations in miliseconds

Definition at line 98 of file dp_ptu.cpp.

DirectedPerceptionPTU::~DirectedPerceptionPTU ( ) [virtual]

Destructor.

Definition at line 111 of file dp_ptu.cpp.

Member Function Documentation

void DirectedPerceptionPTU::get_limits	(	float &	pan_min,
		float &	pan_max,
		float &	tilt_min,
		float &	tilt_max
	)			`[virtual]`

Get position limits in radians.

Parameters:

	pan_min	upon return contains minimum pan in radians
	pan_max	upon return contains maximum pan in radians
	tilt_min	upon return contains minimum tilt in radians
	tilt_max	upon return contains maximum tilt in radians

Definition at line 345 of file dp_ptu.cpp.

int DirectedPerceptionPTU::get_pan ( ) [virtual]

Get current pan in motor ticks.

Returns:: current pan in motor ticks

Definition at line 282 of file dp_ptu.cpp.

void DirectedPerceptionPTU::get_pan_tilt	(	int &	pan,
		int &	tilt
	)			`[virtual]`

Get current position in motor ticks.

Parameters:

	pan	upon return contains current pan position in motor ticks
	tilt	upon return contains current tilt position in motor ticks

Definition at line 254 of file dp_ptu.cpp.

void DirectedPerceptionPTU::get_pan_tilt_rad	(	float &	pan,
		float &	tilt
	)			`[virtual]`

Get pan/tilt in radians.

Parameters:

	pan	upon return contains current pan position in radians
	tilt	upon return contains current tilt position in radians

Definition at line 266 of file dp_ptu.cpp.

int DirectedPerceptionPTU::get_tilt ( ) [virtual]

Get current tilt in motor ticks.

Returns:: current tilt in motor ticks

Definition at line 292 of file dp_ptu.cpp.

int DirectedPerceptionPTU::max_pan ( ) [virtual]

Get maximum pan in motor ticks.

Returns:: maximum pan in motor ticks

Definition at line 301 of file dp_ptu.cpp.

int DirectedPerceptionPTU::max_tilt ( ) [virtual]

Get maximum tilt in motor ticks.

Returns:: maximum tilt in motor ticks

Definition at line 322 of file dp_ptu.cpp.

int DirectedPerceptionPTU::min_pan ( ) [virtual]

Get minimum pan in motor ticks.

Returns:: minimum pan in motor ticks

Definition at line 311 of file dp_ptu.cpp.

int DirectedPerceptionPTU::min_tilt ( ) [virtual]

Get minimum tilt in motor ticks.

Returns:: minimum tilt in motor ticks

Definition at line 332 of file dp_ptu.cpp.

void DirectedPerceptionPTU::reset ( void ) [virtual]

Reset the PTU.

Definition at line 357 of file dp_ptu.cpp.

void DirectedPerceptionPTU::set_pan ( int pan ) [virtual]

Set pan in motor ticks.

Parameters:

pan

pan position in ticks

Definition at line 205 of file dp_ptu.cpp.

void DirectedPerceptionPTU::set_pan_tilt	(	int	pan,
		int	tilt
	)			`[virtual]`

Set pan and tilt in motor ticks.

Parameters:

	pan	pan position in ticks
	tilt	tilt position in ticks

Definition at line 226 of file dp_ptu.cpp.

Referenced by set_pan_tilt_rad().

void DirectedPerceptionPTU::set_pan_tilt_rad	(	float	pan,
		float	tilt
	)			`[virtual]`

Set pan and tilt in radians.

Parameters:

	pan	pan position rad
	tilt	tilt position rad

Definition at line 243 of file dp_ptu.cpp.

References set_pan_tilt().

void DirectedPerceptionPTU::set_tilt ( int tilt ) [virtual]

Set tilt in motor ticks.

Parameters:

tilt

tilt position in ticks

Definition at line 215 of file dp_ptu.cpp.

void DirectedPerceptionPTU::stop_motion ( ) [virtual]

Stop currently running motion.

Definition at line 195 of file dp_ptu.cpp.

The documentation for this class was generated from the following files:

src/plugins/pantilt/dirperc/dp_ptu.h
src/plugins/pantilt/dirperc/dp_ptu.cpp

DirectedPerceptionPTU Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation