Detailed Description

This class implements initialization and comunication methods to control a generic Pan and Tilt Unit, working in radians.

Definition at line 23 of file CPtuBase.h.

#include <mrpt/hwdrivers/CPtuBase.h>

Inheritance diagram for mrpt::hwdrivers::CPtuBase:

Public Member Functions
virtual	~CPtuBase ()
	Destructor. More...

virtual bool	rangeMeasure ()=0
	Search limit forward. More...

virtual bool	moveToAbsPos (char axis, double nRad)=0
	Specification of positions in absolute terms. More...

virtual bool	absPosQ (char axis, double &nRad)=0
	Query position in absolute terms. More...

virtual bool	moveToOffPos (char axis, double nRad)=0
	Specify desired axis position as an offset from the current position. More...

virtual bool	offPosQ (char axis, double &nRad)=0
	Query position in relative terms. More...

virtual bool	maxPosQ (char axis, double &nRad)=0
	Query max movement limit of a axis in absolute terms. More...

virtual bool	minPosQ (char axis, double &nRad)=0
	Query min movement limit of a axis in absolute terms. More...

virtual bool	enableLimitsQ (bool &enable)=0
	Query if exist movement limits. More...

virtual bool	enableLimits (bool set)=0
	Enable/Disable movement limits. More...

virtual bool	inmediateExecution (bool set)=0
	With I mode (default) instructs pan-tilt unit to immediately execute positional commands. More...

virtual bool	aWait (void)=0
	Wait the finish of the last position command to continue accept commands. More...

virtual bool	haltAll ()=0
	Inmediately stop all. More...

virtual bool	halt (char axis)=0
	Inmediately stop. More...

virtual bool	speed (char axis, double RadSec)=0
	Specification of turn speed. More...

virtual bool	speedQ (char axis, double &RadSec)=0
	Query turn speed. More...

virtual bool	aceleration (char axis, double RadSec2)=0
	Specification (de/a)celeration in turn. More...

virtual bool	acelerationQ (char axis, double &RadSec2)=0
	Query (de/a)celeration in turn. More...

virtual bool	baseSpeed (char axis, double RadSec)=0
	Specification of velocity to which start and finish the (de/a)celeration. More...

virtual bool	baseSpeedQ (char axis, double &RadSec)=0
	Query velocity to which start and finish the (de/a)celeration. More...

virtual bool	upperSpeed (char axis, double RadSec)=0
	Specification of velocity upper limit. More...

virtual bool	upperSpeedQ (char axis, double &RadSec)=0
	Query velocity upper limit. More...

virtual bool	lowerSpeed (char axis, double RadSec)=0
	Specification of velocity lower limit. More...

virtual bool	lowerSpeedQ (char axis, double &RadSec)=0
	Query velocity lower limit. More...

virtual bool	reset (void)=0
	Reset PTU to initial state. More...

virtual bool	save (void)=0
	Save or restart default values. More...

virtual bool	restoreDefaults (void)=0
	Restore default values. More...

virtual bool	restoreFactoryDefaults (void)=0
	Restore factory default values. More...

virtual bool	version (char *nVersion)=0
	Version and CopyRights. More...

virtual void	nversion (double &nVersion)=0
	Number of version. More...

virtual bool	powerModeQ (bool transit, char &mode)=0
	Query power mode. More...

virtual bool	powerMode (bool transit, char mode)=0
	Specification of power mode. More...

virtual double	status (double &rad)=0
	Check if ptu is moving. More...

virtual bool	setLimits (char axis, double &l, double &u)=0
	Set limits of movement. More...

virtual bool	changeMotionDir ()=0

virtual int	checkErrors ()=0
	Check errors, returns 0 if there are not errors or error code otherwise. More...

virtual void	clearErrors ()=0
	Clear errors. More...

virtual bool	init (const std::string &port)=0
	PTU and serial port initialization. More...

virtual void	close ()=0
	Close Connection with serial port. More...

virtual double	radError (char axis, double nRadMoved)=0
	To obtains the mistake for use discrete values when the movement is expressed in radians. More...

virtual long	radToPos (char axis, double nRad)=0
	To obtain the discrete value for a number of radians. More...

virtual double	posToRad (char axis, long nPos)=0
	To obtain the number of radians for a discrete value. More...

virtual bool	scan (char axis, int wait, float initial, float final, double RadPre)=0
	Performs a scan in the axis indicated and whit the precision desired. More...

virtual bool	verboseQ (bool &modo)=0
	Query verbose mode. More...

virtual bool	verbose (bool set)=0
	Set verbose. More...

virtual bool	echoModeQ (bool &mode)=0
	Query echo mode. More...

virtual bool	echoMode (bool mode)=0
	Enable/Disable echo response with command. More...

virtual bool	resolution (void)=0
	Query the pan and tilt resolution per position moved and initialize local atributes. More...

Public Attributes
double	tiltResolution

double	panResolution

Protected Attributes
mrpt::comms::CSerialPort	serPort

Private Member Functions
virtual bool	transmit (const char *command)=0
	To transmition commands to the PTU. More...

virtual bool	receive (const char command, char response)=0
	To receive the responseof the PTU. More...

virtual bool	radQuerry (char axis, char command, double &nRad)=0
	Used to obtains a number of radians. More...

virtual bool	radAsign (char axis, char command, double nRad)=0
	Method used for asign a number of radians with a command. More...

Constructor & Destructor Documentation

◆ ~CPtuBase()

virtual mrpt::hwdrivers::CPtuBase::~CPtuBase ( )

inlinevirtual

Destructor.

Definition at line 38 of file CPtuBase.h.

Member Function Documentation

◆ absPosQ()

virtual bool mrpt::hwdrivers::CPtuBase::absPosQ	(	char	axis,
		double &	nRad
	)

pure virtual

Query position in absolute terms.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ aceleration()

virtual bool mrpt::hwdrivers::CPtuBase::aceleration	(	char	axis,
		double	RadSec2
	)

pure virtual

Specification (de/a)celeration in turn.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ acelerationQ()

virtual bool mrpt::hwdrivers::CPtuBase::acelerationQ	(	char	axis,
		double &	RadSec2
	)

pure virtual

Query (de/a)celeration in turn.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ aWait()

virtual bool mrpt::hwdrivers::CPtuBase::aWait ( void )

pure virtual

Wait the finish of the last position command to continue accept commands.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ baseSpeed()

virtual bool mrpt::hwdrivers::CPtuBase::baseSpeed	(	char	axis,
		double	RadSec
	)

pure virtual

Specification of velocity to which start and finish the (de/a)celeration.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ baseSpeedQ()

virtual bool mrpt::hwdrivers::CPtuBase::baseSpeedQ	(	char	axis,
		double &	RadSec
	)

pure virtual

Query velocity to which start and finish the (de/a)celeration.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ changeMotionDir()

virtual bool mrpt::hwdrivers::CPtuBase::changeMotionDir ( )

pure virtual

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ checkErrors()

virtual int mrpt::hwdrivers::CPtuBase::checkErrors ( )

pure virtual

Check errors, returns 0 if there are not errors or error code otherwise.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ clearErrors()

virtual void mrpt::hwdrivers::CPtuBase::clearErrors ( )

pure virtual

Clear errors.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ close()

virtual void mrpt::hwdrivers::CPtuBase::close ( )

pure virtual

Close Connection with serial port.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ echoMode()

virtual bool mrpt::hwdrivers::CPtuBase::echoMode ( bool mode )

pure virtual

Enable/Disable echo response with command.

Example of use (EE supposed):
    PP * 22
    ED *
    <pp entered again, but not echoed>* 22

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ echoModeQ()

virtual bool mrpt::hwdrivers::CPtuBase::echoModeQ ( bool & mode )

pure virtual

Query echo mode.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ enableLimits()

virtual bool mrpt::hwdrivers::CPtuBase::enableLimits ( bool set )

pure virtual

Enable/Disable movement limits.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ enableLimitsQ()

virtual bool mrpt::hwdrivers::CPtuBase::enableLimitsQ ( bool & enable )

pure virtual

Query if exist movement limits.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ halt()

virtual bool mrpt::hwdrivers::CPtuBase::halt ( char axis )

pure virtual

Inmediately stop.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ haltAll()

virtual bool mrpt::hwdrivers::CPtuBase::haltAll ( )

pure virtual

Inmediately stop all.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ init()

virtual bool mrpt::hwdrivers::CPtuBase::init ( const std::string & port )

pure virtual

PTU and serial port initialization.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ inmediateExecution()

virtual bool mrpt::hwdrivers::CPtuBase::inmediateExecution ( bool set )

pure virtual

With I mode (default) instructs pan-tilt unit to immediately execute positional commands.

In S mode instructs pan-tilt unit to execute positional commands only when an Await Position Command Completion command is executed or when put into Immediate Execution Mode.

Example of use of S mode:
    DR *
    S *
    PP1500 *
    TP-900 *
    PP * Current Pan position is 0
    TP * Current Tilt position is 0
    A *
    PP * Current Pan position is 1500
    TP * Current Tilt position is -900

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ lowerSpeed()

virtual bool mrpt::hwdrivers::CPtuBase::lowerSpeed	(	char	axis,
		double	RadSec
	)

pure virtual

Specification of velocity lower limit.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ lowerSpeedQ()

virtual bool mrpt::hwdrivers::CPtuBase::lowerSpeedQ	(	char	axis,
		double &	RadSec
	)

pure virtual

Query velocity lower limit.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ maxPosQ()

virtual bool mrpt::hwdrivers::CPtuBase::maxPosQ	(	char	axis,
		double &	nRad
	)

pure virtual

Query max movement limit of a axis in absolute terms.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ minPosQ()

virtual bool mrpt::hwdrivers::CPtuBase::minPosQ	(	char	axis,
		double &	nRad
	)

pure virtual

Query min movement limit of a axis in absolute terms.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ moveToAbsPos()

virtual bool mrpt::hwdrivers::CPtuBase::moveToAbsPos	(	char	axis,
		double	nRad
	)

pure virtual

Specification of positions in absolute terms.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ moveToOffPos()

virtual bool mrpt::hwdrivers::CPtuBase::moveToOffPos	(	char	axis,
		double	nRad
	)

pure virtual

Specify desired axis position as an offset from the current position.

This method recives the number of radians to move.

Example of use:
    TT-500 *
    A *
    TO * Current Tilt position is -500
    TO500 *
    A *
    TT * Current Pan position is 1000

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ nversion()

virtual void mrpt::hwdrivers::CPtuBase::nversion ( double & nVersion )

pure virtual

Number of version.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ offPosQ()

virtual bool mrpt::hwdrivers::CPtuBase::offPosQ	(	char	axis,
		double &	nRad
	)

pure virtual

Query position in relative terms.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ posToRad()

virtual double mrpt::hwdrivers::CPtuBase::posToRad	(	char	axis,
		long	nPos
	)

pure virtual

To obtain the number of radians for a discrete value.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ powerMode()

virtual bool mrpt::hwdrivers::CPtuBase::powerMode	(	bool	transit,
		char	mode
	)

pure virtual

Specification of power mode.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ powerModeQ()

virtual bool mrpt::hwdrivers::CPtuBase::powerModeQ	(	bool	transit,
		char &	mode
	)

pure virtual

Query power mode.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ radAsign()

virtual bool mrpt::hwdrivers::CPtuBase::radAsign	(	char	axis,
		char	command,
		double	nRad
	)

privatepure virtual

Method used for asign a number of radians with a command.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ radError()

virtual double mrpt::hwdrivers::CPtuBase::radError	(	char	axis,
		double	nRadMoved
	)

pure virtual

To obtains the mistake for use discrete values when the movement is expressed in radians.

Parameters are the absolute position in radians and the axis desired

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ radQuerry()

virtual bool mrpt::hwdrivers::CPtuBase::radQuerry	(	char	axis,
		char	command,
		double &	nRad
	)

privatepure virtual

Used to obtains a number of radians.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ radToPos()

virtual long mrpt::hwdrivers::CPtuBase::radToPos	(	char	axis,
		double	nRad
	)

pure virtual

To obtain the discrete value for a number of radians.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ rangeMeasure()

virtual bool mrpt::hwdrivers::CPtuBase::rangeMeasure ( )

pure virtual

Search limit forward.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ receive()

virtual bool mrpt::hwdrivers::CPtuBase::receive	(	const char *	command,
		char *	response
	)

privatepure virtual

To receive the responseof the PTU.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ reset()

virtual bool mrpt::hwdrivers::CPtuBase::reset ( void )

pure virtual

Reset PTU to initial state.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ resolution()

virtual bool mrpt::hwdrivers::CPtuBase::resolution ( void )

pure virtual

Query the pan and tilt resolution per position moved and initialize local atributes.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ restoreDefaults()

virtual bool mrpt::hwdrivers::CPtuBase::restoreDefaults ( void )

pure virtual

Restore default values.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ restoreFactoryDefaults()

virtual bool mrpt::hwdrivers::CPtuBase::restoreFactoryDefaults ( void )

pure virtual

Restore factory default values.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ save()

virtual bool mrpt::hwdrivers::CPtuBase::save ( void )

pure virtual

Save or restart default values.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ scan()

virtual bool mrpt::hwdrivers::CPtuBase::scan	(	char	axis,
		int	wait,
		float	initial,
		float	final,
		double	RadPre
	)

pure virtual

Performs a scan in the axis indicated and whit the precision desired.

Parameters

<axis>	{Pan or Till}
<tWait>	{Wait time betwen commands}
<initial>	{initial position}
<final>	{final position}
<RadPre>	{radians precision for the scan}

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ setLimits()

virtual bool mrpt::hwdrivers::CPtuBase::setLimits	(	char	axis,
		double &	l,
		double &	u
	)

pure virtual

Set limits of movement.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ speed()

virtual bool mrpt::hwdrivers::CPtuBase::speed	(	char	axis,
		double	RadSec
	)

pure virtual

Specification of turn speed.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ speedQ()

virtual bool mrpt::hwdrivers::CPtuBase::speedQ	(	char	axis,
		double &	RadSec
	)

pure virtual

Query turn speed.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ status()

virtual double mrpt::hwdrivers::CPtuBase::status ( double & rad )

pure virtual

Check if ptu is moving.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ transmit()

virtual bool mrpt::hwdrivers::CPtuBase::transmit ( const char * command )

privatepure virtual

To transmition commands to the PTU.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ upperSpeed()

virtual bool mrpt::hwdrivers::CPtuBase::upperSpeed	(	char	axis,
		double	RadSec
	)

pure virtual

Specification of velocity upper limit.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ upperSpeedQ()

virtual bool mrpt::hwdrivers::CPtuBase::upperSpeedQ	(	char	axis,
		double &	RadSec
	)

pure virtual

Query velocity upper limit.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

◆ verbose()

virtual bool mrpt::hwdrivers::CPtuBase::verbose ( bool set )

pure virtual

Set verbose.

\conde Example of response with FV (verbose) active: FV * PP * Current pan position is 0 Example of response with FT (terse) active: FT * PP * 0

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ verboseQ()

virtual bool mrpt::hwdrivers::CPtuBase::verboseQ ( bool & modo )

pure virtual

Query verbose mode.

Implemented in mrpt::hwdrivers::CPtuDPerception, and mrpt::hwdrivers::CTuMicos.

◆ version()

virtual bool mrpt::hwdrivers::CPtuBase::version ( char * nVersion )

pure virtual

Version and CopyRights.

Implemented in mrpt::hwdrivers::CTuMicos, and mrpt::hwdrivers::CPtuDPerception.

Member Data Documentation

◆ panResolution

double mrpt::hwdrivers::CPtuBase::panResolution

Definition at line 28 of file CPtuBase.h.

◆ serPort

mrpt::comms::CSerialPort mrpt::hwdrivers::CPtuBase::serPort

protected

Definition at line 31 of file CPtuBase.h.

◆ tiltResolution

double mrpt::hwdrivers::CPtuBase::tiltResolution

Definition at line 28 of file CPtuBase.h.

Detailed Description

Public Member Functions

Public Attributes

Protected Attributes

Private Member Functions

Constructor & Destructor Documentation

◆ ~CPtuBase()

Member Function Documentation

◆ absPosQ()

◆ aceleration()

◆ acelerationQ()

◆ aWait()

◆ baseSpeed()

◆ baseSpeedQ()

◆ changeMotionDir()

◆ checkErrors()

◆ clearErrors()

◆ close()

◆ echoMode()

◆ echoModeQ()

◆ enableLimits()

◆ enableLimitsQ()

◆ halt()

◆ haltAll()

◆ init()

◆ inmediateExecution()

◆ lowerSpeed()

◆ lowerSpeedQ()

◆ maxPosQ()

◆ minPosQ()

◆ moveToAbsPos()

◆ moveToOffPos()

◆ nversion()

◆ offPosQ()

◆ posToRad()

◆ powerMode()

◆ powerModeQ()

◆ radAsign()

◆ radError()

◆ radQuerry()

◆ radToPos()

◆ rangeMeasure()

◆ receive()

◆ reset()

◆ resolution()

◆ restoreDefaults()

◆ restoreFactoryDefaults()

◆ save()

◆ scan()

◆ setLimits()

◆ speed()

◆ speedQ()

◆ status()

◆ transmit()

◆ upperSpeed()

◆ upperSpeedQ()

◆ verbose()

◆ verboseQ()

◆ version()

Member Data Documentation

◆ panResolution

◆ serPort

◆ tiltResolution