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.

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: