mrpt::hwdrivers::CPtuDPerception Class Reference

---

Detailed Description

This class implements initialization and comunication methods to control a Pan and Tilt Unit model PTU-46-17.5, working in radians .

Definition at line 38 of file CPtuDPerception.h.

#include <mrpt/hwdrivers/CPtuDPerception.h>

Inheritance diagram for mrpt::hwdrivers::CPtuDPerception:

List of all members.

Public Types
enum	{   NoError = 1, ComError = 2, TimeoutError = 3, InitError = 5,   PanHitError = 7, TiltHitError = 11, PanTiltHitError = 13, MaxLimitError = 17,   MinLimitError = 19, OutOfRange = 23, IllegalCommandError = 29, UnExpectedError = 31 }
enum	{ Pan = 'P', Tilt = 'T' }
enum	{ Regular = 'R', High = 'H', Low = 'L', Off = 'O' }
enum	{ Com1 = 1, Com2 = 2, Com3 = 3, Com4 = 4 }
Public Member Functions
	CPtuDPerception ()
	Default constructor.
virtual	~CPtuDPerception ()
	Destructor.
virtual bool	rangeMeasure ()
	Search limit forward.
virtual bool	moveToAbsPos (char axis, double nRad)
	Specification of positions in absolute terms.
virtual bool	absPosQ (char axis, double &nRad)
	Query position in absolute terms.
virtual bool	moveToOffPos (char axis, double nRad)
	Specify desired axis position as an offset from the current position.
virtual bool	offPosQ (char axis, double &nRad)
	Query position in relative terms.
virtual bool	maxPosQ (char axis, double &nRad)
	Query max movement limit of a axis in absolute terms.
virtual bool	minPosQ (char axis, double &nRad)
	Query min movement limit of a axis in absolute terms.
virtual bool	enableLimitsQ (bool &enable)
	Query if exist movement limits.
virtual bool	enableLimits (bool set)
	Enable/Disable movement limits.
virtual bool	inmediateExecution (bool set)
	With I mode (default) instructs pan-tilt unit to immediately execute positional commands.
virtual bool	aWait (void)
	Wait the finish of the last position command to continue accept commands.
virtual bool	haltAll ()
	Inmediately stop all.
virtual bool	halt (char axis)
	Inmediately stop.
virtual bool	speed (char axis, double radSec)
	Specification of turn speed.
virtual bool	speedQ (char axis, double &radSec)
	Query turn speed.
virtual bool	aceleration (char axis, double radSec2)
	Specification (de/a)celeration in turn.
virtual bool	acelerationQ (char axis, double &radSec2)
	Query (de/a)celeration in turn.
virtual bool	baseSpeed (char axis, double radSec)
	Specification of velocity to which start and finish the (de/a)celeration.
virtual bool	baseSpeedQ (char axis, double &radSec)
	Query velocity to which start and finish the (de/a)celeration.
virtual bool	upperSpeed (char axis, double radSec)
	Specification of velocity upper limit.
virtual bool	upperSpeedQ (char axis, double &radSec)
	Query velocity upper limit.
virtual bool	lowerSpeed (char axis, double radSec)
	Specification of velocity lower limit.
virtual bool	lowerSpeedQ (char axis, double &radSec)
	Query velocity lower limit.
virtual bool	reset (void)
	Reset PTU to initial state.
virtual bool	save (void)
	Save or restart default values.
virtual bool	restoreDefaults (void)
	Restore default values.
virtual bool	restoreFactoryDefaults (void)
	Restore factory default values.
virtual bool	version (char *nVersion)
	Version and CopyRights.
virtual void	nversion (double &nVersion)
	Number of version.
virtual bool	powerModeQ (bool transit, char &mode)
	Query power mode.
virtual bool	powerMode (bool transit, char mode)
	Specification of power mode.
virtual double	status (double &rad)
	Check if ptu is moving.
virtual bool	setLimits (char axis, double &l, double &u)
	Set limits of movement.
virtual bool	changeMotionDir ()
virtual int	checkErrors ()
	Check errors, returns 0 if there are not errors or error code in otherwise Error codes:
bool	noError ()
bool	comError ()
bool	timeoutError ()
bool	initError ()
bool	panTiltHitError ()
bool	panHitError ()
bool	tiltHitError ()
bool	maxLimitError ()
bool	minLimitError ()
bool	outOfRange ()
bool	illegalCommandError ()
bool	unExpectedError ()
virtual void	clearErrors ()
	Clear errors.
virtual bool	init (const std::string port)
	PTU and serial port initialization.
virtual void	close ()
	Close conection with serial port.
virtual double	radError (char axis, double nRadMoved)
	To obtains the mistake for use discrete values when the movement is expressed in radians.
virtual long	radToPos (char axis, double nRad)
	To obtain the discrete value for a number of radians.
virtual double	posToRad (char axis, long nPos)
	To obtain the number of radians for a discrete value.
virtual bool	scan (char axis, int wait, float initial, float final, double radPre)
	Performs a scan in the axis indicated and whit the precision desired.
virtual bool	verboseQ (bool &modo)
	Query verbose mode.
virtual bool	verbose (bool set)
	Set verbose.
virtual bool	echoModeQ (bool &mode)
	Query echo mode.
virtual bool	echoMode (bool mode)
	Enable/Disable echo response with command.
virtual bool	resolution (void)
	Query the pan and tilt resolution per position moved and initialize local atributes.
Public Attributes
int	nError
	TimeoutError: Only occurs if the communication is cut with PTU so it is advisable to check the connection and initialize again the comunication.
Private Member Functions
virtual bool	transmit (const char *command)
	To transmition commands to the PTU.
virtual bool	receive (const char *command, char *response)
	To receive the responseof the PTU.
virtual bool	radQuerry (char axis, char command, double &nRad)
	Used to obtains a number of radians.
virtual bool	radAsign (char axis, char command, double nRad)
	Method used for asign a number of radians with a command.
virtual double	convertToDouble (char *sDouble)
	Convert string to double.
virtual long	convertToLong (char *sLong)
	Convert string to long.

---

Member Enumeration Documentation

anonymous enum

Enumerator:

NoError
ComError
TimeoutError
InitError
PanHitError
TiltHitError
PanTiltHitError
MaxLimitError
MinLimitError
OutOfRange
IllegalCommandError
UnExpectedError

Definition at line 368 of file CPtuDPerception.h.

anonymous enum

Enumerator:

Pan
Tilt

Definition at line 380 of file CPtuDPerception.h.

anonymous enum

Enumerator:

Regular
High
Low
Off

Definition at line 381 of file CPtuDPerception.h.

anonymous enum

Enumerator:

Com1
Com2
Com3
Com4

Definition at line 382 of file CPtuDPerception.h.

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Constructor & Destructor Documentation

mrpt::hwdrivers::CPtuDPerception::CPtuDPerception

(

)

[inline]

Default constructor.

Definition at line 40 of file CPtuDPerception.h.

virtual mrpt::hwdrivers::CPtuDPerception::~CPtuDPerception

(

)

[inline, virtual]

Destructor.

Definition at line 44 of file CPtuDPerception.h.

---

Member Function Documentation

virtual bool mrpt::hwdrivers::CPtuDPerception::absPosQ	(	char	axis,
		double &	nRad
	)		[virtual]

Query position in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::aceleration	(	char	axis,
		double	radSec2
	)		[virtual]

Specification (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::acelerationQ	(	char	axis,
		double &	radSec2
	)		[virtual]

Query (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::aWait

(

void

)

[virtual]

Wait the finish of the last position command to continue accept commands.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::baseSpeed	(	char	axis,
		double	radSec
	)		[virtual]

Specification of velocity to which start and finish the (de/a)celeration.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::baseSpeedQ	(	char	axis,
		double &	radSec
	)		[virtual]

Query velocity to which start and finish the (de/a)celeration.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::changeMotionDir

(

)

[virtual]

Implements mrpt::hwdrivers::CPtuBase.

virtual int mrpt::hwdrivers::CPtuDPerception::checkErrors

(

)

[virtual]

Check errors, returns 0 if there are not errors or error code in otherwise Error codes:

        1: Com error
        2: Time out error
        3: Init error
        4: Pan tilt hit error
        5: Pan hit error
        6: Tilt hit error
        7: Max limit error
        8: Min limit error
        9: Out of range
        10: Illegal command error
        11: Unexpected error

Implements mrpt::hwdrivers::CPtuBase.

virtual void mrpt::hwdrivers::CPtuDPerception::clearErrors

(

)

[inline, virtual]

Clear errors.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 257 of file CPtuDPerception.h.

References TiltHitError.

virtual void mrpt::hwdrivers::CPtuDPerception::close

(

)

[virtual]

Close conection with serial port.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CPtuDPerception::comError

(

)

[inline]

Definition at line 243 of file CPtuDPerception.h.

virtual double mrpt::hwdrivers::CPtuDPerception::convertToDouble

(

char *

sDouble )

[private, virtual]

Convert string to double.

virtual long mrpt::hwdrivers::CPtuDPerception::convertToLong

(

char *

sLong )

[private, virtual]

Convert string to long.

virtual bool mrpt::hwdrivers::CPtuDPerception::echoMode

(

bool

mode )

[virtual]

Enable/Disable echo response with command.

        Example of use (EE supposed):
                PP * 22
                ED *
                <pp entered again, but not echoed>* 22

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::echoModeQ

(

bool &

mode )

[virtual]

Query echo mode.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::enableLimits

(

bool

set )

[virtual]

Enable/Disable movement limits.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::enableLimitsQ

(

bool &

enable )

[virtual]

Query if exist movement limits.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::halt

(

char

axis )

[virtual]

Inmediately stop.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::haltAll

(

)

[virtual]

Inmediately stop all.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CPtuDPerception::illegalCommandError

(

)

[inline]

Definition at line 252 of file CPtuDPerception.h.

References ComError.

virtual bool mrpt::hwdrivers::CPtuDPerception::init

(

const std::string

port )

[virtual]

PTU and serial port initialization.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CPtuDPerception::initError

(

)

[inline]

Definition at line 245 of file CPtuDPerception.h.

virtual bool mrpt::hwdrivers::CPtuDPerception::inmediateExecution

(

bool

set )

[virtual]

With I mode (default) instructs pan-tilt unit to immediately execute positional commands.

In S mode instructs pan-tilt unit to execute positional commands only when an Await Position Command Completion command is executed or when put into Immediate Execution Mode.

        Example of use of S mode:
                DR *
                S *
                PP1500 *
                TP-900 *
                PP * Current Pan position is 0
                TP * Current Tilt position is 0
                A *
                PP * Current Pan position is 1500
                TP * Current Tilt position is -900

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::lowerSpeed	(	char	axis,
		double	radSec
	)		[virtual]

Specification of velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::lowerSpeedQ	(	char	axis,
		double &	radSec
	)		[virtual]

Query velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CPtuDPerception::maxLimitError

(

)

[inline]

Definition at line 249 of file CPtuDPerception.h.

virtual bool mrpt::hwdrivers::CPtuDPerception::maxPosQ	(	char	axis,
		double &	nRad
	)		[virtual]

Query max movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CPtuDPerception::minLimitError

(

)

[inline]

Definition at line 250 of file CPtuDPerception.h.

virtual bool mrpt::hwdrivers::CPtuDPerception::minPosQ	(	char	axis,
		double &	nRad
	)		[virtual]

Query min movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::moveToAbsPos	(	char	axis,
		double	nRad
	)		[virtual]

Specification of positions in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::moveToOffPos	(	char	axis,
		double	nRad
	)		[virtual]

Specify desired axis position as an offset from the current position.

This method recives the number of radians to move.

        Example of use:
                TT-500 *
                A *
                TO * Current Tilt position is -500
                TO500 *
                A *
                TT * Current Pan position is 1000 

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CPtuDPerception::noError

(

)

[inline]

Definition at line 242 of file CPtuDPerception.h.

virtual void mrpt::hwdrivers::CPtuDPerception::nversion

(

double &

nVersion )

[virtual]

Number of version.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::offPosQ	(	char	axis,
		double &	nRad
	)		[virtual]

Query position in relative terms.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CPtuDPerception::outOfRange

(

)

[inline]

Definition at line 251 of file CPtuDPerception.h.

bool mrpt::hwdrivers::CPtuDPerception::panHitError

(

)

[inline]

Definition at line 247 of file CPtuDPerception.h.

bool mrpt::hwdrivers::CPtuDPerception::panTiltHitError

(

)

[inline]

Definition at line 246 of file CPtuDPerception.h.

virtual double mrpt::hwdrivers::CPtuDPerception::posToRad	(	char	axis,
		long	nPos
	)		[virtual]

To obtain the number of radians for a discrete value.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::powerMode	(	bool	transit,
		char	mode
	)		[virtual]

Specification of power mode.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::powerModeQ	(	bool	transit,
		char &	mode
	)		[virtual]

Query power mode.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::radAsign	(	char	axis,
		char	command,
		double	nRad
	)		[private, virtual]

Method used for asign a number of radians with a command.

Implements mrpt::hwdrivers::CPtuBase.

virtual double mrpt::hwdrivers::CPtuDPerception::radError	(	char	axis,
		double	nRadMoved
	)		[virtual]

To obtains the mistake for use discrete values when the movement is expressed in radians.

Parameters are the absolute position in radians and the axis desired

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::radQuerry	(	char	axis,
		char	command,
		double &	nRad
	)		[private, virtual]

Used to obtains a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

virtual long mrpt::hwdrivers::CPtuDPerception::radToPos	(	char	axis,
		double	nRad
	)		[virtual]

To obtain the discrete value for a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::rangeMeasure

(

)

[virtual]

Search limit forward.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::receive	(	const char *	command,
		char *	response
	)		[private, virtual]

To receive the responseof the PTU.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::reset

(

void

)

[virtual]

Reset PTU to initial state.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::resolution

(

void

)

[virtual]

Query the pan and tilt resolution per position moved and initialize local atributes.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::restoreDefaults

(

void

)

[virtual]

Restore default values.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::restoreFactoryDefaults

(

void

)

[virtual]

Restore factory default values.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::save

(

void

)

[virtual]

Save or restart default values.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::scan	(	char	axis,
		int	wait,
		float	initial,
		float	final,
		double	radPre
	)		[virtual]

Performs a scan in the axis indicated and whit the precision desired.

Parameters:

<axis>	{Pan or Till}
<tWait>	{Wait time betwen commands}
<initial>	{initial position}
<final>	{final position}
<radPre>	{radians precision for the scan}

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::setLimits	(	char	axis,
		double &	l,
		double &	u
	)		[virtual]

Set limits of movement.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::speed	(	char	axis,
		double	radSec
	)		[virtual]

Specification of turn speed.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::speedQ	(	char	axis,
		double &	radSec
	)		[virtual]

Query turn speed.

Implements mrpt::hwdrivers::CPtuBase.

virtual double mrpt::hwdrivers::CPtuDPerception::status

(

double &

rad )

[inline, virtual]

Check if ptu is moving.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 210 of file CPtuDPerception.h.

bool mrpt::hwdrivers::CPtuDPerception::tiltHitError

(

)

[inline]

Definition at line 248 of file CPtuDPerception.h.

bool mrpt::hwdrivers::CPtuDPerception::timeoutError

(

)

[inline]

Definition at line 244 of file CPtuDPerception.h.

virtual bool mrpt::hwdrivers::CPtuDPerception::transmit

(

const char *

command )

[private, virtual]

To transmition commands to the PTU.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CPtuDPerception::unExpectedError

(

)

[inline]

Definition at line 253 of file CPtuDPerception.h.

References TimeoutError.

virtual bool mrpt::hwdrivers::CPtuDPerception::upperSpeed	(	char	axis,
		double	radSec
	)		[virtual]

Specification of velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::upperSpeedQ	(	char	axis,
		double &	radSec
	)		[virtual]

Query velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::verbose

(

bool

set )

[virtual]

Set verbose.

Example of response with FV (verbose) active: FV * PP * Current pan position is 0 Example of response with FT (terse) active: FT * PP * 0

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::verboseQ

(

bool &

modo )

[virtual]

Query verbose mode.

Implements mrpt::hwdrivers::CPtuBase.

virtual bool mrpt::hwdrivers::CPtuDPerception::version

(

char *

nVersion )

[virtual]

Version and CopyRights.

Implements mrpt::hwdrivers::CPtuBase.

---

Member Data Documentation

int mrpt::hwdrivers::CPtuDPerception::nError

TimeoutError: Only occurs if the communication is cut with PTU so it is advisable to check the connection and initialize again the comunication.

Definition at line 378 of file CPtuDPerception.h.