BIAS::PanTiltControlInterface Class Reference

abstract control class for control of Directed Perception Pan Tilt Unit. More...

#include <PanTilt/PanTiltControlInterface.hh>

Inheritance diagram for BIAS::PanTiltControlInterface:

Collaboration diagram for BIAS::PanTiltControlInterface:

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

Detailed Description

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.

Author

fkellner, ischiller

Examples:

ExamplePanTiltManualControl.cpp.

Definition at line 42 of file PanTiltControlInterface.hh.

Constructor & Destructor Documentation

BIAS::PanTiltControlInterface::PanTiltControlInterface ( std::string  device, bool  heavyDutyMode  )

inline

Initialize PTU, called by derived classes.

Parameters

[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.

virtual BIAS::PanTiltControlInterface::~PanTiltControlInterface ( )

inlinevirtual

Default destructor.

Moves PTU to position (0,0) and releases interface.

Definition at line 89 of file PanTiltControlInterface.hh.

Member Function Documentation

void BIAS::PanTiltControlInterface::AwaitCompletion ( )

inline

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  )

inlinestatic

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  )

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().

virtual void BIAS::PanTiltControlInterface::ResumeControl ( )

pure virtual

Resumes control.

Implemented in BIAS::PanTiltAutoControl, and BIAS::PanTiltManualControl.

Examples:

ExamplePanTiltManualControl.cpp.

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

inline

Set the position to move to.

Definition at line 113 of file PanTiltControlInterface.hh.

virtual void BIAS::PanTiltControlInterface::StartControl ( )

pure virtual

Starts controlling the PTU.

Implemented in BIAS::PanTiltAutoControl, and BIAS::PanTiltManualControl.

Examples:

ExamplePanTiltManualControl.cpp.

virtual void BIAS::PanTiltControlInterface::StartMoveTo ( const long int  pan, const long int  tilt  )

inlinevirtual

Starts movement to given pan and tilt position.

Reimplemented in BIAS::PanTiltAutoControl.

Definition at line 56 of file PanTiltControlInterface.hh.

virtual void BIAS::PanTiltControlInterface::StopControl ( )

pure virtual

Stops/pauses control.

Implemented in BIAS::PanTiltAutoControl, and BIAS::PanTiltManualControl.

Examples:

ExamplePanTiltManualControl.cpp.

Member Data Documentation

long int BIAS::PanTiltControlInterface::cur_pan = 0

staticprotected

Definition at line 132 of file PanTiltControlInterface.hh.

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

long int BIAS::PanTiltControlInterface::cur_tilt = 0

staticprotected

Definition at line 133 of file PanTiltControlInterface.hh.

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

double BIAS::PanTiltControlInterface::presolution = 0.0

staticprotected

Definition at line 134 of file PanTiltControlInterface.hh.

BIAS::DPPanTiltControl BIAS::PanTiltControlInterface::ptControl

protected

Definition at line 131 of file PanTiltControlInterface.hh.

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

double BIAS::PanTiltControlInterface::tresolution = 0.0

staticprotected

Definition at line 135 of file PanTiltControlInterface.hh.

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

• PanTilt/PanTiltControlInterface.hh
• PanTilt/PanTiltControlInterface.cpp