Fawkes API
Fawkes Development Version
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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... | |
DirectedPerception PTU implementation.
Control object to use the DirectedPerception PTU Pan/Tilt unit mounted on carl.
DirectedPerceptionPTU::DirectedPerceptionPTU | ( | const char * | device_file, |
unsigned int | timeout_ms = 10 |
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Constructor.
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.
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Destructor.
Definition at line 111 of file dp_ptu.cpp.
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Get position limits in radians.
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::bb_interface_message_received(), and PanTiltDirectedPerceptionThread::init().
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Get current pan in motor ticks.
Definition at line 282 of file dp_ptu.cpp.
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Get current position in motor ticks.
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.
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Get pan/tilt in radians.
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.
Referenced by PanTiltDirectedPerceptionThread::bb_interface_message_received().
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Get current tilt in motor ticks.
Definition at line 292 of file dp_ptu.cpp.
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Get maximum pan in motor ticks.
Definition at line 301 of file dp_ptu.cpp.
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Get maximum tilt in motor ticks.
Definition at line 322 of file dp_ptu.cpp.
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Get minimum pan in motor ticks.
Definition at line 311 of file dp_ptu.cpp.
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Get minimum tilt in motor ticks.
Definition at line 332 of file dp_ptu.cpp.
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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().
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Set pan in motor ticks.
pan | pan position in ticks |
Definition at line 205 of file dp_ptu.cpp.
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Set pan and tilt in motor ticks.
pan | pan position in ticks |
tilt | tilt position in ticks |
Definition at line 226 of file dp_ptu.cpp.
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Set pan and tilt in radians.
pan | pan position rad |
tilt | tilt position rad |
Definition at line 243 of file dp_ptu.cpp.
Referenced by PanTiltDirectedPerceptionThread::bb_interface_message_received().
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Set tilt in motor ticks.
tilt | tilt position in ticks |
Definition at line 215 of file dp_ptu.cpp.
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Stop currently running motion.
Definition at line 195 of file dp_ptu.cpp.