Basic Image AlgorithmS Library
2.8.0
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abstract control class for control of Directed Perception Pan Tilt Unit. More...
#include <PanTilt/PanTiltControlInterface.hh>
Public Member Functions | |
void | AwaitCompletion () |
Waits until the current command is completed. More... | |
PanTiltControlInterface (std::string device, bool heavyDutyMode) | |
Initialize PTU, called by derived classes. More... | |
virtual void | ResumeControl ()=0 |
Resumes control. More... | |
void | SetPosition (long int pan, long int tilt, bool waitComplete=true) |
Set the position to move to. More... | |
virtual void | StartControl ()=0 |
Starts controlling the PTU. More... | |
virtual void | StartMoveTo (const long int pan, const long int tilt) |
Starts movement to given pan and tilt position. More... | |
virtual void | StopControl ()=0 |
Stops/pauses control. More... | |
virtual | ~PanTiltControlInterface () |
Default destructor. 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 |
abstract control class for control of Directed Perception Pan Tilt Unit.
Currently uses DPPanTiltControl to send commands but could be extended in the future to use any other PTU controller class with common interface.
Definition at line 42 of file PanTiltControlInterface.hh.
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inline |
Initialize PTU, called by derived classes.
[in] | device | The device string, e.g. COM0 or /dev/ttyUSB0 |
n] | heavyDutyMode Enables the heavy duty mode for PTU |
Definition at line 62 of file PanTiltControlInterface.hh.
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inlinevirtual |
Default destructor.
Moves PTU to position (0,0) and releases interface.
Definition at line 89 of file PanTiltControlInterface.hh.
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inline |
Waits until the current command is completed.
Definition at line 123 of file PanTiltControlInterface.hh.
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inlinestatic |
Get position, values should be updated by derived classes.
Definition at line 99 of file PanTiltControlInterface.hh.
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inlinestatic |
Get position in degrees, values should be updated by derived classes.
Definition at line 106 of file PanTiltControlInterface.hh.
Referenced by BIAS::PanTiltManualControl::StartControl().
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pure virtual |
Resumes control.
Implemented in BIAS::PanTiltAutoControl, and BIAS::PanTiltManualControl.
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inline |
Set the position to move to.
Definition at line 113 of file PanTiltControlInterface.hh.
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pure virtual |
Starts controlling the PTU.
Implemented in BIAS::PanTiltAutoControl, and BIAS::PanTiltManualControl.
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inlinevirtual |
Starts movement to given pan and tilt position.
Reimplemented in BIAS::PanTiltAutoControl.
Definition at line 56 of file PanTiltControlInterface.hh.
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pure virtual |
Stops/pauses control.
Implemented in BIAS::PanTiltAutoControl, and BIAS::PanTiltManualControl.
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staticprotected |
Definition at line 132 of file PanTiltControlInterface.hh.
Referenced by BIAS::PanTiltManualControl::StartControl(), BIAS::PanTiltAutoControl::StartControl(), and BIAS::PanTiltAutoControl::StartMoveTo().
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staticprotected |
Definition at line 133 of file PanTiltControlInterface.hh.
Referenced by BIAS::PanTiltManualControl::StartControl(), BIAS::PanTiltAutoControl::StartControl(), and BIAS::PanTiltAutoControl::StartMoveTo().
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staticprotected |
Definition at line 134 of file PanTiltControlInterface.hh.
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protected |
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staticprotected |
Definition at line 135 of file PanTiltControlInterface.hh.