DirectedPerceptionPTU Class Reference

DirectedPerception PTU implementation. More...

#include "dp_ptu.h"

List of all members.

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.

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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.

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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.

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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.

Referenced by PanTiltDirectedPerceptionThread::init().

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.

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.

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.

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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