Fawkes API  Fawkes Development Version
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. More...
 
virtual ~DirectedPerceptionPTU ()
 Destructor. More...
 
virtual void set_pan_tilt_rad (float pan, float tilt)
 Set pan and tilt in radians. More...
 
virtual void get_pan_tilt_rad (float &pan, float &tilt)
 Get pan/tilt in radians. More...
 
virtual void get_limits (float &pan_min, float &pan_max, float &tilt_min, float &tilt_max)
 Get position limits in radians. More...
 
virtual void reset ()
 Reset the PTU. More...
 
virtual void stop_motion ()
 Stop currently running motion. More...
 
virtual void set_pan (int pan)
 Set pan in motor ticks. More...
 
virtual void set_tilt (int tilt)
 Set tilt in motor ticks. More...
 
virtual void set_pan_tilt (int pan, int tilt)
 Set pan and tilt in motor ticks. More...
 
virtual int get_pan ()
 Get current pan in motor ticks. More...
 
virtual int get_tilt ()
 Get current tilt in motor ticks. More...
 
virtual void get_pan_tilt (int &pan, int &tilt)
 Get current position in motor ticks. More...
 
virtual int min_pan ()
 Get minimum pan in motor ticks. More...
 
virtual int max_pan ()
 Get maximum pan in motor ticks. More...
 
virtual int min_tilt ()
 Get minimum tilt in motor ticks. More...
 
virtual int max_tilt ()
 Get maximum tilt in motor ticks. More...
 

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

Constructor.

Parameters
device_fileserial device file (e.g. /dev/ttyS0)
timeout_mstimeout for read operations in miliseconds

Definition at line 98 of file dp_ptu.cpp.

◆ ~DirectedPerceptionPTU()

DirectedPerceptionPTU::~DirectedPerceptionPTU ( )
virtual

Destructor.

Definition at line 111 of file dp_ptu.cpp.

Member Function Documentation

◆ get_limits()

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

Get position limits in radians.

Parameters
pan_minupon return contains minimum pan in radians
pan_maxupon return contains maximum pan in radians
tilt_minupon return contains minimum tilt in radians
tilt_maxupon return contains maximum tilt in radians

Definition at line 345 of file dp_ptu.cpp.

Referenced by PanTiltDirectedPerceptionThread::bb_interface_message_received(), and PanTiltDirectedPerceptionThread::init().

◆ get_pan()

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.

◆ get_pan_tilt()

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

Get current position in motor ticks.

Parameters
panupon return contains current pan position in motor ticks
tiltupon return contains current tilt position in motor ticks

Definition at line 254 of file dp_ptu.cpp.

◆ get_pan_tilt_rad()

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

Get pan/tilt in radians.

Parameters
panupon return contains current pan position in radians
tiltupon return contains current tilt position in radians

Definition at line 266 of file dp_ptu.cpp.

Referenced by PanTiltDirectedPerceptionThread::bb_interface_message_received().

◆ get_tilt()

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.

◆ max_pan()

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.

◆ max_tilt()

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.

◆ min_pan()

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.

◆ min_tilt()

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.

◆ reset()

void DirectedPerceptionPTU::reset ( void  )
virtual

Reset the PTU.

Definition at line 357 of file dp_ptu.cpp.

References fawkes::deg2rad(), and fawkes::rad2deg().

Referenced by PanTiltDirectedPerceptionThread::bb_interface_message_received().

◆ set_pan()

void DirectedPerceptionPTU::set_pan ( int  pan)
virtual

Set pan in motor ticks.

Parameters
panpan position in ticks

Definition at line 205 of file dp_ptu.cpp.

◆ set_pan_tilt()

void DirectedPerceptionPTU::set_pan_tilt ( int  pan,
int  tilt 
)
virtual

Set pan and tilt in motor ticks.

Parameters
panpan position in ticks
tilttilt position in ticks

Definition at line 226 of file dp_ptu.cpp.

◆ set_pan_tilt_rad()

void DirectedPerceptionPTU::set_pan_tilt_rad ( float  pan,
float  tilt 
)
virtual

Set pan and tilt in radians.

Parameters
panpan position rad
tilttilt position rad

Definition at line 243 of file dp_ptu.cpp.

Referenced by PanTiltDirectedPerceptionThread::bb_interface_message_received().

◆ set_tilt()

void DirectedPerceptionPTU::set_tilt ( int  tilt)
virtual

Set tilt in motor ticks.

Parameters
tilttilt position in ticks

Definition at line 215 of file dp_ptu.cpp.

◆ stop_motion()

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: