Basic Image AlgorithmS Library
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PanTilt
PanTiltSoftMotion.hh
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/*
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This file is part of the BIAS library (Basic ImageAlgorithmS).
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Copyright (C) 2003-2009 (see file CONTACT for details)
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Multimediale Systeme der Informationsverarbeitung
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Institut fuer Informatik
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Christian-Albrechts-Universitaet Kiel
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BIAS is free software; you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation; either version 2.1 of the License, or
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(at your option) any later version.
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BIAS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with BIAS; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PANTILT_SOFT_MOTION_HH
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#define PANTILT_SOFT_MOTION_HH
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namespace
BIAS{
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/** \class PanTiltSoftMotion
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* \brief
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* \author fkellner
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*/
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class
BIASPanTilt_EXPORT
PanTiltSoftMotion
{
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public
:
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PanTiltSoftMotion
();
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~
PanTiltSoftMotion
();
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void
setLimits(
int
_min_pan,
int
_max_pan,
int
_min_pan_speed,
int
_max_pan_speed,
int
_min_tilt_speed,
int
_max_tilt_speed);
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void
assert_pan(
int
&pan);
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void
assert_tilt(
int
&tilt);
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int
getPanSpeed(
int
start_pan,
int
end_pan,
int
cur_pan,
int
damp);
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int
getTiltSpeed(
int
start_pan,
int
end_pan,
int
start_tilt,
int
end_tilt,
int
cur_pan,
int
cur_tilt,
int
damp);
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private
:
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int
calcSpeed(
int
start_val,
int
end_val,
int
cur_val,
int
damp);
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bool
tilt_active;
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int
min_pan, max_pan, min_tilt, max_tilt, min_pan_speed, min_tilt_speed, max_pan_speed, max_tilt_speed;
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int
min(
int
val1,
int
val2) {
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return
(val1 < val2) ? val1 : val2;
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}
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int
max(
int
val1,
int
val2) {
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return
(val1 < val2) ? val2 : val1;
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}
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};
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typedef
PanTiltSoftMotion
t_SoftMotion
;
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}
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#endif //PANTILT_SOFT_MOTION_HH
BIAS::t_SoftMotion
PanTiltSoftMotion t_SoftMotion
Definition:
PanTiltSoftMotion.hh:60
BIAS::PanTiltSoftMotion
Definition:
PanTiltSoftMotion.hh:35
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