BIAS::DPPanTiltControlExtended Class Reference

Extended controller interface for Directed Perception Pan Tilt Unit. More...

#include <PanTilt/DPPanTiltControlExtended.hh>

Inheritance diagram for BIAS::DPPanTiltControlExtended:

Collaboration diagram for BIAS::DPPanTiltControlExtended:

Public Types
enum	DPPanTiltStepping {   AUTO = 0, HALF, QUARTER, EIGHTH,   FULL }

Public Member Functions
void	AwaitCompletion ()
	Await completion of currently executed command. More...
void	ClosePanTiltUnit ()
	closes the comport stream connected to PTU More...
void	CompensateHeliMovement (const BIAS::RMatrix &R)
	Compensates movement of coordinate system the PTU is mounted to. More...
	DPPanTiltControlExtended ()
	Standard constructor. More...
void	FollowMidPos (const BIAS::Vector2< double > &newMean)
	Simple object tracking method, uses absolut positioning error and moves PTU and camera to position newMean. More...
void	GetAcceleration (long &panAcc, long &tiltAcc)
void	GetCurrentPosition (long &lPanPos, long &lTiltPos)
void	GetCurrentPositionDegrees (double &dPanDeg, double &dTiltDeg)
void	GetCurrentPositionDegreesThreaded (double &dPanDeg, double &dTiltDeg)
	Get the position in degrees while moving in thread. More...
void	GetCurrentPositionRadians (double &dPanRad, double &dTiltRad)
void	GetCurrentPositionRadiansThreaded (double &dPanRad, double &dTiltRad)
	Get the position in radians while moving in thread. More...
double	GetPanResolution ()
	Get the resolution of the pan axis. More...
void	GetSpeed (long &panSpeed, long &tiltSpeed)
double	GetTiltResolution ()
	Get the resolution of the tilt axis. More...
bool	InitPanTiltUnit (int nPort, bool bUSB=false)
	Open the given serial port and initialize the pan tilt unit. More...
bool	InitPanTiltUnit (const char *portName)
	Open the given port and initialize the pan tilt unit. More...
void	MoveDown (int nValue)
	Move camera nValue steps downwards. More...
void	MoveLeft (int nValue)
	Move camera nValue steps left. More...
void	MoveRight (int nValue)
	Move camera nValue steps right. More...
void	MoveUp (int nValue)
	Move camera nValue steps upwards. More...
void	PIDSpeedAdjustFollow (const BIAS::Vector2< double > &newMean)
	Perform PID controlling of the PTU. More...
void	QueryResolution (double &panResolution, double &tiltResolution, bool updateInternal=false)
	Get resolution of the motor. More...
int	ReadRawLine (std::string &cmd)
	Read a line from the serial (or USB) port. More...
void	RecursivePIControl (const BIAS::Vector2< double > &newMean)
	Perform digital controlling of the PTU as described in Herbert Schlitt (pages 215 ff.). More...
bool	ResetPanTiltUnit ()
	Reset the position of the pan tilt unit to 0. More...
void	SendRawCommand (std::string cmd)
	Send a command string terminated by a space or carriage return character to the serial (or USB) port. More...
char	SetAcceleration (int nPanAcc, int nTiltAcc)
	Set acceleration for movement. More...
void	SetApertureAngle (double xAngle, double yAngle)
	Set the aperture angle of the camera mounted to the PTU. More...
void	SetKd (const BIAS::Vector< int > &kd)
	Set the derivative parameter of the Ziegler-Nichols tuning. More...
void	SetKi (const BIAS::Vector< int > &ki)
	Set the integral parameter of the Ziegler-Nichols tuning. More...
void	SetKp (const BIAS::Vector< int > &kp)
	Set the proportional parameter of the Ziegler-Nichols tuning. More...
int	SetMode (int nMode)
	Set the mode in which the camera is to operate. More...
int	SetMotorStepping (int panStepping, int tiltStepping)
	Set the stepping of the motor. More...
void	SetPictureSize (unsigned int xSize, unsigned int ySize)
	Set the size of the picture of the camera mounted to the PTU. More...
void	SetPosition (int nPanPos, int nTiltPos, bool bWaitComplete=true)
	Set the current position of the PTU in steps. More...
void	SetResetTime (float tn)
void	SetSamplingTime (float t)
char	SetSpeed (int nPanSpeed, int nTiltSpeed)
	Set speed for movement. More...
void	StartCircularMovement ()
	Start a thread moving the PTU in a circle. More...
void	StartCircularMovementThread ()
	Start a thread moving the PTU in a circle. More...
void	StopPanTiltUnit ()
	Stop the currently moving pan tilt unit. More...
void	UseDefaultOrientation (bool use)
	Set the orientation of the PTU (default or upside-down). More...
	~DPPanTiltControlExtended ()
	Standard destructor. More...

Static Protected Member Functions
static void *	threadFuncCircle_ (void *ptr)

Protected Attributes
bool	bDefaultOrientation_
bool	bInitComp_
portstream_fd	COMstream_
pthread_t	control_thread
BIAS::RMatrix	deltaMatrix_
std::vector< int >	ErrorTMinus1_
int	followObjectMaxDiff_
int	followObjectMinDiff_
BIAS::RMatrix	handEyeMatrix_
double	KdX_
double	KdY_
double	KiX_
double	KiY_
double	KpX_
double	KpY_
short int	maxSpeed_
double	panResolution_
short int	panSpeedComp_
BIAS::RMatrix	ptuMatrix_
int	RPICounter_
BIAS::RMatrix	sensorMatrixMinus1_
float	T_
double	tiltResolution_
short int	tiltSpeedComp_
float	Tn_
double	xApertureAngle_
unsigned int	xPictureSize_
short int	xPTDeltaSpeed_
short int	xPTDeltaSpeedTMinus1_
short int	xPTSpeed_
double	yApertureAngle_
unsigned int	yPictureSize_
short int	yPTDeltaSpeed_
short int	yPTDeltaSpeedTMinus1_
short int	yPTSpeed_
int	ZiNiErrorTminus1X_
int	ZiNiErrorTminus1Y_
int	ZiNiErrorX_
int	ZiNiErrorY_

Static Protected Attributes
static pthread_mutex_t	condition_mutex = PTHREAD_MUTEX_INITIALIZER
static long	panThreaded_ = 0
static long	tiltThreaded_ = 0

Detailed Description

Extended controller interface for Directed Perception Pan Tilt Unit.

Author

Ingo Schiller 10/2011

Definition at line 51 of file DPPanTiltControlExtended.hh.

Member Enumeration Documentation

enum BIAS::DPPanTiltControl::DPPanTiltStepping

inherited

Enumerator
AUTO
HALF
QUARTER
EIGHTH
FULL

Definition at line 73 of file DPPanTiltControl.hh.

Constructor & Destructor Documentation

DPPanTiltControlExtended::DPPanTiltControlExtended

(

)

Standard constructor.

Definition at line 17 of file DPPanTiltControlExtended.cpp.

DPPanTiltControlExtended::~DPPanTiltControlExtended

(

)

Standard destructor.

Definition at line 51 of file DPPanTiltControlExtended.cpp.

Member Function Documentation

void DPPanTiltControl::AwaitCompletion ( )

inherited

Await completion of currently executed command.

Examples:

ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 90 of file DPPanTiltControl.cpp.

void DPPanTiltControl::ClosePanTiltUnit ( )

inherited

closes the comport stream connected to PTU

Examples:

ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 156 of file DPPanTiltControl.cpp.

Referenced by BIAS::PanTiltAutoControl::~PanTiltAutoControl().

void DPPanTiltControlExtended::CompensateHeliMovement

(

const BIAS::RMatrix &

R

)

Compensates movement of coordinate system the PTU is mounted to.

Attention

Only rotation is supported yet!

Note

Implemented for helicopter project by Ingo Schiller

Definition at line 80 of file DPPanTiltControlExtended.cpp.

References BIAS::RMatrixBase::GetRotationAnglesZYX(), and BIAS::Matrix3x3< T >::Transpose().

void DPPanTiltControlExtended::FollowMidPos

(

const BIAS::Vector2< double > &

newMean

)

Simple object tracking method, uses absolut positioning error and moves PTU and camera to position newMean.

Parameters

[in]

newMean

Defines the setpoint to adjust the PTU to.

Attention

Mode has to be set to ABSOLUTEMODE!

Definition at line 230 of file DPPanTiltControlExtended.cpp.

void DPPanTiltControl::GetAcceleration ( long &  panAcc, long &  tiltAcc  )

inherited

Returns

Returns the current acceleration

Definition at line 190 of file DPPanTiltControl.cpp.

void DPPanTiltControl::GetCurrentPosition ( long &  lPanPos, long &  lTiltPos  )

inherited

Returns

Returns the current position of the PTU in steps

Definition at line 229 of file DPPanTiltControl.cpp.

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

void DPPanTiltControl::GetCurrentPositionDegrees ( double &  dPanDeg, double &  dTiltDeg  )

inherited

Returns

Returns the current position of the PTU in degrees

Definition at line 236 of file DPPanTiltControl.cpp.

void DPPanTiltControlExtended::GetCurrentPositionDegreesThreaded	(	double &	dPanDeg,
		double &	dTiltDeg
	)

Get the position in degrees while moving in thread.

Definition at line 140 of file DPPanTiltControlExtended.cpp.

void DPPanTiltControl::GetCurrentPositionRadians ( double &  dPanRad, double &  dTiltRad  )

inherited

Returns

Returns the current position of the PTU in radians

Definition at line 243 of file DPPanTiltControl.cpp.

void DPPanTiltControlExtended::GetCurrentPositionRadiansThreaded	(	double &	dPanRad,
		double &	dTiltRad
	)

Get the position in radians while moving in thread.

Definition at line 149 of file DPPanTiltControlExtended.cpp.

double BIAS::DPPanTiltControl::GetPanResolution ( )

inlineinherited

Get the resolution of the pan axis.

Returns

Returns the pan resolution in radians per step

Examples:

ExampleDPPanTiltControl.cpp.

Definition at line 141 of file DPPanTiltControl.hh.

void DPPanTiltControl::GetSpeed ( long &  panSpeed, long &  tiltSpeed  )

inherited

Returns

Returns the current speed

Definition at line 176 of file DPPanTiltControl.cpp.

double BIAS::DPPanTiltControl::GetTiltResolution ( )

inlineinherited

Get the resolution of the tilt axis.

Returns

Returns the tilt resolution in radians per step

Definition at line 145 of file DPPanTiltControl.hh.

bool DPPanTiltControl::InitPanTiltUnit ( int  nPort, bool  bUSB = false  )

inherited

Open the given serial port and initialize the pan tilt unit.

Parameters

[in]	nPort	The number of the serial port (or USB port)
[in]	bUSB	Use USB port instead of serial port

Returns

Returns true on success, false for errors

Examples:

ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 95 of file DPPanTiltControl.cpp.

bool DPPanTiltControl::InitPanTiltUnit ( const char *  portName )

inherited

Open the given port and initialize the pan tilt unit.

Parameters

[in]

portName

The name of the serial port or USB port to open, e.g. /dev/ttyUSB0

Returns

Returns true on success, false for errors

Definition at line 114 of file DPPanTiltControl.cpp.

void DPPanTiltControl::MoveDown ( int  nValue )

inherited

Move camera nValue steps downwards.

Definition at line 204 of file DPPanTiltControl.cpp.

Referenced by BIAS::DPPanTiltControlDialog::OnDown().

void DPPanTiltControl::MoveLeft ( int  nValue )

inherited

Move camera nValue steps left.

Definition at line 212 of file DPPanTiltControl.cpp.

Referenced by BIAS::DPPanTiltControlDialog::OnLeft().

void DPPanTiltControl::MoveRight ( int  nValue )

inherited

Move camera nValue steps right.

Definition at line 220 of file DPPanTiltControl.cpp.

Referenced by BIAS::DPPanTiltControlDialog::OnRight().

void DPPanTiltControl::MoveUp ( int  nValue )

inherited

Move camera nValue steps upwards.

Definition at line 196 of file DPPanTiltControl.cpp.

Referenced by BIAS::DPPanTiltControlDialog::OnUp().

void DPPanTiltControlExtended::PIDSpeedAdjustFollow

(

const BIAS::Vector2< double > &

newMean

)

Perform PID controlling of the PTU.

Very simple algorithm without deadtime and frequency.

Parameters

[in]

newMean

Defines the setpoint to adjust the PTU to.

Attention

Mode has to be set to SPEEDMODE!

Definition at line 271 of file DPPanTiltControlExtended.cpp.

void DPPanTiltControl::QueryResolution ( double &  panResolution, double &  tiltResolution, bool  updateInternal = false  )

inherited

Get resolution of the motor.

Parameters

[out]	panResolution	Return the pan resolution
[out]	tiltResolution	Returns the tilt resolution

Definition at line 430 of file DPPanTiltControl.cpp.

int DPPanTiltControl::ReadRawLine ( std::string &  cmd )

inherited

Read a line from the serial (or USB) port.

Returns

Returns the length of the read string, or 0 when nothing has been read

Definition at line 269 of file DPPanTiltControl.cpp.

void DPPanTiltControlExtended::RecursivePIControl

(

const BIAS::Vector2< double > &

newMean

)

Perform digital controlling of the PTU as described in Herbert Schlitt (pages 215 ff.).

Takes care of deadtime and frequency of the algorithm. Makes recursive calculation and calculates the difference in velocity of the PTU.

Parameters

[in]

newMean

Defines the setpoint to adjust the PTU to.

Attention

Mode has to be set to SPEEDMODE!

Definition at line 320 of file DPPanTiltControlExtended.cpp.

bool DPPanTiltControl::ResetPanTiltUnit ( )

inherited

Reset the position of the pan tilt unit to 0.

Returns

Returns true on success, false for errors

Definition at line 54 of file DPPanTiltControl.cpp.

Referenced by BIAS::DPPanTiltControlDialog::OnReset().

void DPPanTiltControl::SendRawCommand ( std::string  cmd )

inherited

Send a command string terminated by a space or carriage return character to the serial (or USB) port.

Definition at line 264 of file DPPanTiltControl.cpp.

char DPPanTiltControl::SetAcceleration ( int  nPanAcc, int  nTiltAcc  )

inherited

Set acceleration for movement.

Examples:

ExampleDPPanTiltControl.cpp.

Definition at line 182 of file DPPanTiltControl.cpp.

void BIAS::DPPanTiltControlExtended::SetApertureAngle ( double  xAngle, double  yAngle  )

inline

Set the aperture angle of the camera mounted to the PTU.

   This is needed to calculate the speeds to keep an object in
   the middle of the picture while steering the PTU.

Note

Implemented for helicopter project by Ingo Schiller

Definition at line 112 of file DPPanTiltControlExtended.hh.

void DPPanTiltControlExtended::SetKd

(

const BIAS::Vector< int > &

kd

)

Set the derivative parameter of the Ziegler-Nichols tuning.

Definition at line 71 of file DPPanTiltControlExtended.cpp.

void DPPanTiltControlExtended::SetKi

(

const BIAS::Vector< int > &

ki

)

Set the integral parameter of the Ziegler-Nichols tuning.

Definition at line 63 of file DPPanTiltControlExtended.cpp.

void DPPanTiltControlExtended::SetKp

(

const BIAS::Vector< int > &

kp

)

Set the proportional parameter of the Ziegler-Nichols tuning.

Definition at line 55 of file DPPanTiltControlExtended.cpp.

int DPPanTiltControl::SetMode ( int  nMode )

inherited

Set the mode in which the camera is to operate.

Parameters

[in]

nMode

Defines the mode, 0 is speed control mode, 1 is absolute positioning mode

Returns

Returns 0 on success, != 0 for errors

Examples:

ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 24 of file DPPanTiltControl.cpp.

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

int DPPanTiltControl::SetMotorStepping ( int  panStepping, int  tiltStepping  )

inherited

Set the stepping of the motor.

Definition at line 279 of file DPPanTiltControl.cpp.

void BIAS::DPPanTiltControlExtended::SetPictureSize ( unsigned int  xSize, unsigned int  ySize  )

inline

Set the size of the picture of the camera mounted to the PTU.

   This is needed to calculate the speeds to keep an object in
   the middle of the picture while steering the PTU.

Note

Implemented for helicopter project by Ingo Schiller

Definition at line 103 of file DPPanTiltControlExtended.hh.

void DPPanTiltControl::SetPosition ( int  nPanPos, int  nTiltPos, bool  bWaitComplete = true  )

inherited

Set the current position of the PTU in steps.

Examples:

ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 250 of file DPPanTiltControl.cpp.

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

void BIAS::DPPanTiltControlExtended::SetResetTime ( float  tn )

inline

Definition at line 97 of file DPPanTiltControlExtended.hh.

void BIAS::DPPanTiltControlExtended::SetSamplingTime ( float  t )

inline

Definition at line 95 of file DPPanTiltControlExtended.hh.

char DPPanTiltControl::SetSpeed ( int  nPanSpeed, int  nTiltSpeed  )

inherited

Set speed for movement.

Examples:

ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 168 of file DPPanTiltControl.cpp.

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

void BIAS::DPPanTiltControl::StartCircularMovement ( )

inherited

Start a thread moving the PTU in a circle.

void DPPanTiltControlExtended::StartCircularMovementThread

(

)

Start a thread moving the PTU in a circle.

Definition at line 134 of file DPPanTiltControlExtended.cpp.

void DPPanTiltControl::StopPanTiltUnit ( )

inherited

Stop the currently moving pan tilt unit.

Definition at line 83 of file DPPanTiltControl.cpp.

void * DPPanTiltControlExtended::threadFuncCircle_ ( void *  ptr )

staticprotected

Definition at line 157 of file DPPanTiltControlExtended.cpp.

References BIAS::DPPanTiltControl::GetCurrentPosition(), BIAS::DPPanTiltControl::SetMode(), BIAS::DPPanTiltControl::SetPosition(), and BIAS::DPPanTiltControl::SetSpeed().

void BIAS::DPPanTiltControl::UseDefaultOrientation ( bool  use )

inlineinherited

Set the orientation of the PTU (default or upside-down).

Parameters

[in]

use

Use true for default orientation and false for mounting upside down (e.g. when mounted under helicopter)

Note

Implemented for helicopter project by Ingo Schiller

Definition at line 187 of file DPPanTiltControl.hh.

Member Data Documentation

bool BIAS::DPPanTiltControl::bDefaultOrientation_

protectedinherited

Definition at line 194 of file DPPanTiltControl.hh.

bool BIAS::DPPanTiltControlExtended::bInitComp_

protected

Definition at line 159 of file DPPanTiltControlExtended.hh.

portstream_fd BIAS::DPPanTiltControl::COMstream_

protectedinherited

Definition at line 191 of file DPPanTiltControl.hh.

pthread_mutex_t DPPanTiltControlExtended::condition_mutex = PTHREAD_MUTEX_INITIALIZER

staticprotected

Definition at line 136 of file DPPanTiltControlExtended.hh.

pthread_t BIAS::DPPanTiltControlExtended::control_thread

protected

Definition at line 135 of file DPPanTiltControlExtended.hh.

BIAS::RMatrix BIAS::DPPanTiltControlExtended::deltaMatrix_

protected

Definition at line 166 of file DPPanTiltControlExtended.hh.

std::vector<int> BIAS::DPPanTiltControlExtended::ErrorTMinus1_

protected

Definition at line 175 of file DPPanTiltControlExtended.hh.

int BIAS::DPPanTiltControlExtended::followObjectMaxDiff_

protected

Definition at line 151 of file DPPanTiltControlExtended.hh.

int BIAS::DPPanTiltControlExtended::followObjectMinDiff_

protected

Definition at line 152 of file DPPanTiltControlExtended.hh.

BIAS::RMatrix BIAS::DPPanTiltControlExtended::handEyeMatrix_

protected

Definition at line 166 of file DPPanTiltControlExtended.hh.

double BIAS::DPPanTiltControlExtended::KdX_

protected

Definition at line 144 of file DPPanTiltControlExtended.hh.

double BIAS::DPPanTiltControlExtended::KdY_

protected

Definition at line 144 of file DPPanTiltControlExtended.hh.

double BIAS::DPPanTiltControlExtended::KiX_

protected

Definition at line 144 of file DPPanTiltControlExtended.hh.

double BIAS::DPPanTiltControlExtended::KiY_

protected

Definition at line 144 of file DPPanTiltControlExtended.hh.

double BIAS::DPPanTiltControlExtended::KpX_

protected

Definition at line 144 of file DPPanTiltControlExtended.hh.

double BIAS::DPPanTiltControlExtended::KpY_

protected

Definition at line 144 of file DPPanTiltControlExtended.hh.

short int BIAS::DPPanTiltControl::maxSpeed_

protectedinherited

Definition at line 192 of file DPPanTiltControl.hh.

double BIAS::DPPanTiltControl::panResolution_

protectedinherited

Definition at line 193 of file DPPanTiltControl.hh.

short int BIAS::DPPanTiltControlExtended::panSpeedComp_

protected

Definition at line 162 of file DPPanTiltControlExtended.hh.

long DPPanTiltControlExtended::panThreaded_ = 0

staticprotected

Definition at line 137 of file DPPanTiltControlExtended.hh.

BIAS::RMatrix BIAS::DPPanTiltControlExtended::ptuMatrix_

protected

Definition at line 166 of file DPPanTiltControlExtended.hh.

int BIAS::DPPanTiltControlExtended::RPICounter_

protected

Definition at line 176 of file DPPanTiltControlExtended.hh.

BIAS::RMatrix BIAS::DPPanTiltControlExtended::sensorMatrixMinus1_

protected

Definition at line 166 of file DPPanTiltControlExtended.hh.

float BIAS::DPPanTiltControlExtended::T_

protected

Definition at line 169 of file DPPanTiltControlExtended.hh.

double BIAS::DPPanTiltControl::tiltResolution_

protectedinherited

Definition at line 193 of file DPPanTiltControl.hh.

short int BIAS::DPPanTiltControlExtended::tiltSpeedComp_

protected

Definition at line 163 of file DPPanTiltControlExtended.hh.

long DPPanTiltControlExtended::tiltThreaded_ = 0

staticprotected

Definition at line 138 of file DPPanTiltControlExtended.hh.

float BIAS::DPPanTiltControlExtended::Tn_

protected

Definition at line 170 of file DPPanTiltControlExtended.hh.

double BIAS::DPPanTiltControlExtended::xApertureAngle_

protected

Definition at line 153 of file DPPanTiltControlExtended.hh.

unsigned int BIAS::DPPanTiltControlExtended::xPictureSize_

protected

Definition at line 155 of file DPPanTiltControlExtended.hh.

short int BIAS::DPPanTiltControlExtended::xPTDeltaSpeed_

protected

Definition at line 171 of file DPPanTiltControlExtended.hh.

short int BIAS::DPPanTiltControlExtended::xPTDeltaSpeedTMinus1_

protected

Definition at line 173 of file DPPanTiltControlExtended.hh.

short int BIAS::DPPanTiltControlExtended::xPTSpeed_

protected

Definition at line 160 of file DPPanTiltControlExtended.hh.

double BIAS::DPPanTiltControlExtended::yApertureAngle_

protected

Definition at line 154 of file DPPanTiltControlExtended.hh.

unsigned int BIAS::DPPanTiltControlExtended::yPictureSize_

protected

Definition at line 156 of file DPPanTiltControlExtended.hh.

short int BIAS::DPPanTiltControlExtended::yPTDeltaSpeed_

protected

Definition at line 172 of file DPPanTiltControlExtended.hh.

short int BIAS::DPPanTiltControlExtended::yPTDeltaSpeedTMinus1_

protected

Definition at line 174 of file DPPanTiltControlExtended.hh.

short int BIAS::DPPanTiltControlExtended::yPTSpeed_

protected

Definition at line 161 of file DPPanTiltControlExtended.hh.

int BIAS::DPPanTiltControlExtended::ZiNiErrorTminus1X_

protected

Definition at line 147 of file DPPanTiltControlExtended.hh.

int BIAS::DPPanTiltControlExtended::ZiNiErrorTminus1Y_

protected

Definition at line 148 of file DPPanTiltControlExtended.hh.

int BIAS::DPPanTiltControlExtended::ZiNiErrorX_

protected

Definition at line 145 of file DPPanTiltControlExtended.hh.

int BIAS::DPPanTiltControlExtended::ZiNiErrorY_

protected

Definition at line 146 of file DPPanTiltControlExtended.hh.

---

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

• PanTilt/DPPanTiltControlExtended.hh
• PanTilt/DPPanTiltControlExtended.cpp