BIAS::PanTiltAutoControl Class Reference

PanTiltControlInterface. More...

#include <PanTilt/PanTiltAutoControl.hh>

Inheritance diagram for BIAS::PanTiltAutoControl:

Collaboration diagram for BIAS::PanTiltAutoControl:

Public Member Functions
void	AwaitCompletion ()
	Waits until the current command is completed. More...
	PanTiltAutoControl (std::string device, bool heavyDutyMode)
	constructor has nothing to do, super-constructor will startup communication More...
void	ResumeControl ()
	resume moving around More...
void	SetPosition (long int pan, long int tilt, bool waitComplete=true)
	Set the position to move to. More...
void	StartControl ()
	start moving around More...
void	StartMoveTo (const long int pan, const long int tilt)
	move to desired position More...
void	StopControl ()
	stop/pause moving around More...
void	StopMoveTo ()
	stop move to desired position More...
bool	Stopped ()
	check if position is reached More...
	~PanTiltAutoControl ()
	destructor moves to (0,0), then calls super-destructor to release ttyS0 More...

Static Public Member Functions
static void	GetPosition (long int &pan, long int &tilt)
	Get position, values should be updated by derived classes. More...
static void	GetPositionDegrees (double &panDegree, double &tiltDegree)
	Get position in degrees, values should be updated by derived classes. More...

Protected Attributes
BIAS::DPPanTiltControl	ptControl

Static Protected Attributes
static long int	cur_pan = 0
static long int	cur_tilt = 0
static double	presolution = 0.0
static double	tresolution = 0.0

Detailed Description

PanTiltControlInterface.

Automatic control of the PanTilt Unit from Directed Perception

Author

fkellner

Definition at line 38 of file PanTiltAutoControl.hh.

Constructor & Destructor Documentation

PanTiltAutoControl::PanTiltAutoControl	(	std::string	device,
		bool	heavyDutyMode
	)

constructor has nothing to do, super-constructor will startup communication

Definition at line 45 of file PanTiltAutoControl.cpp.

PanTiltAutoControl::~PanTiltAutoControl

(

)

destructor moves to (0,0), then calls super-destructor to release ttyS0

Definition at line 52 of file PanTiltAutoControl.cpp.

References BIAS::DPPanTiltControl::ClosePanTiltUnit(), BIAS::PanTiltControlInterface::ptControl, and ResumeControl().

Member Function Documentation

void BIAS::PanTiltControlInterface::AwaitCompletion ( )

inlineinherited

Waits until the current command is completed.

Definition at line 123 of file PanTiltControlInterface.hh.

static void BIAS::PanTiltControlInterface::GetPosition ( long int &  pan, long int &  tilt  )

inlinestaticinherited

Get position, values should be updated by derived classes.

Definition at line 99 of file PanTiltControlInterface.hh.

static void BIAS::PanTiltControlInterface::GetPositionDegrees ( double &  panDegree, double &  tiltDegree  )

inlinestaticinherited

Get position in degrees, values should be updated by derived classes.

Definition at line 106 of file PanTiltControlInterface.hh.

Referenced by BIAS::PanTiltManualControl::StartControl().

void PanTiltAutoControl::ResumeControl ( )

virtual

resume moving around

Implements BIAS::PanTiltControlInterface.

Definition at line 88 of file PanTiltAutoControl.cpp.

Referenced by ~PanTiltAutoControl().

void BIAS::PanTiltControlInterface::SetPosition ( long int  pan, long int  tilt, bool  waitComplete = true  )

inlineinherited

Set the position to move to.

Definition at line 113 of file PanTiltControlInterface.hh.

void PanTiltAutoControl::StartControl ( )

virtual

start moving around

Implements BIAS::PanTiltControlInterface.

Definition at line 63 of file PanTiltAutoControl.cpp.

References BIAS::PanTiltControlInterface::cur_pan, BIAS::PanTiltControlInterface::cur_tilt, BIAS::DPPanTiltControl::GetCurrentPosition(), BIAS::PanTiltControlInterface::ptControl, BIAS::DPPanTiltControl::SetMode(), and BIAS::DPPanTiltControl::SetSpeed().

void PanTiltAutoControl::StartMoveTo ( const long int  pan, const long int  tilt  )

virtual

move to desired position

Reimplemented from BIAS::PanTiltControlInterface.

Definition at line 95 of file PanTiltAutoControl.cpp.

References BIAS::PanTiltControlInterface::cur_pan, BIAS::PanTiltControlInterface::cur_tilt, BIAS::DPPanTiltControl::GetCurrentPosition(), BIAS::PanTiltControlInterface::ptControl, BIAS::DPPanTiltControl::SetMode(), and BIAS::DPPanTiltControl::SetSpeed().

void PanTiltAutoControl::StopControl ( )

virtual

stop/pause moving around

Implements BIAS::PanTiltControlInterface.

Definition at line 81 of file PanTiltAutoControl.cpp.

References BIAS::PanTiltControlInterface::ptControl, and BIAS::DPPanTiltControl::SetSpeed().

void PanTiltAutoControl::StopMoveTo

(

)

stop move to desired position

Definition at line 111 of file PanTiltAutoControl.cpp.

bool BIAS::PanTiltAutoControl::Stopped ( )

inline

check if position is reached

Definition at line 58 of file PanTiltAutoControl.hh.

Member Data Documentation

long int BIAS::PanTiltControlInterface::cur_pan = 0

staticprotectedinherited

Definition at line 132 of file PanTiltControlInterface.hh.

Referenced by BIAS::PanTiltManualControl::StartControl(), StartControl(), and StartMoveTo().

long int BIAS::PanTiltControlInterface::cur_tilt = 0

staticprotectedinherited

Definition at line 133 of file PanTiltControlInterface.hh.

Referenced by BIAS::PanTiltManualControl::StartControl(), StartControl(), and StartMoveTo().

double BIAS::PanTiltControlInterface::presolution = 0.0

staticprotectedinherited

Definition at line 134 of file PanTiltControlInterface.hh.

BIAS::DPPanTiltControl BIAS::PanTiltControlInterface::ptControl

protectedinherited

Definition at line 131 of file PanTiltControlInterface.hh.

Referenced by BIAS::PanTiltManualControl::StartControl(), StartControl(), StartMoveTo(), StopControl(), and ~PanTiltAutoControl().

double BIAS::PanTiltControlInterface::tresolution = 0.0

staticprotectedinherited

Definition at line 135 of file PanTiltControlInterface.hh.

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The documentation for this class was generated from the following files:

• PanTilt/PanTiltAutoControl.hh
• PanTilt/PanTiltAutoControl.cpp