Aria  2.7.5.2
ArSonyPTZ Class Reference

A class to use the sony pan tilt zoom unit. More...

#include <ArSonyPTZ.h>

Inherits ArPTZ.

Public Types

enum  { MAX_PAN = 95, MAX_TILT = 25, MIN_ZOOM = 0, MAX_ZOOM = 1023 }
 

Public Member Functions

 ArSonyPTZ (ArRobot *robot)
 
bool backLightingOff (void)
 
bool backLightingOn (void)
 
virtual bool canGetFOV (void)
 
virtual bool canZoom (void) const
 
virtual double getFOVAtMaxZoom (void)
 Gets the field of view at maximum zoom.
 
virtual double getFOVAtMinZoom (void)
 Gets the field of view at minimum zoom.
 
virtual double getMaxNegPan (void) const
 
virtual double getMaxNegTilt (void) const
 
virtual double getMaxPosPan (void) const
 
virtual double getMaxPosTilt (void) const
 
virtual int getMaxZoom (void) const
 
virtual int getMinZoom (void) const
 
virtual double getPan (void) const
 
virtual double getTilt (void) const
 
virtual int getZoom (void) const
 
virtual bool init (void)
 
virtual bool pan (double degrees)
 
virtual bool panRel (double degrees)
 
virtual bool panTilt (double degreesPan, double degreesTilt)
 
virtual bool panTiltRel (double degreesPan, double degreesTilt)
 
virtual bool tilt (double degrees)
 
virtual bool tiltRel (double degrees)
 
virtual bool zoom (int zoomValue)
 
virtual bool zoomRel (int zoomValue)
 
- Public Member Functions inherited from ArPTZ
 ArPTZ (ArRobot *robot)
 
virtual bool canGetRealPanTilt (void) const
 Whether getPan() hand getTilt() return the device's real position, or last commanded position.
 
virtual bool canGetRealZoom (void) const
 Whether getZoom() returns the device's real zoom amount, or last commanded zoom position.
 
virtual bool canSetFocus (void) const
 If the driver can set the focus on the camera, or not.
 
virtual bool canSetGain (void) const
 If the driver can set gain on the camera, or not.
 
virtual void connectHandler (void)
 Internal, attached to robot, inits the camera when robot connects.
 
virtual int getAuxPort (void)
 Gets the port the device is set to communicate on.
 
virtual ArDeviceConnectiongetDeviceConnection (void)
 Gets the device connection used by this PTZ camera.
 
virtual double getFocus (double focus) const
 Get the focus the camera is set to. 0 if not supported.
 
virtual double getGain (double gain) const
 Get the gain the camera is set to. 0 if not supported.
 
virtual bool packetHandler (ArBasePacket *packet)
 Handles a packet that was read from the device. More...
 
virtual ArBasePacketreadPacket (void)
 Reads a packet from the device connection, MUST NOT BLOCK. More...
 
virtual void reset (void)
 Resets the camera. More...
 
virtual bool robotPacketHandler (ArRobotPacket *packet)
 Handles a packet that was read by the robot. More...
 
virtual bool sendPacket (ArBasePacket *packet)
 Sends a given packet to the camera (via robot or serial port, depending) More...
 
virtual void sensorInterpHandler (void)
 Internal, for attaching to the robots sensor interp to read serial port.
 
virtual bool setAuxPort (int auxPort)
 Sets the aux port on the robot to be used to communicate with this device. More...
 
virtual bool setDeviceConnection (ArDeviceConnection *connection, bool driveFromRobotLoop=true)
 
virtual bool setFocus (double focus) const
 
virtual bool setGain (double gain) const
 
virtual ~ArPTZ ()
 Destructor.
 

Protected Member Functions

void initializePackets (void)
 

Protected Attributes

double myDegToPan
 
double myDegToTilt
 
ArSonyPacket myPacket
 
double myPan
 
ArSonyPacket myPanTiltPacket
 
ArRobotmyRobot
 
double myTilt
 
int myZoom
 
ArSonyPacket myZoomPacket
 
- Protected Attributes inherited from ArPTZ
int myAuxPort
 
ArCommands::Commands myAuxRxCmd
 
ArCommands::Commands myAuxTxCmd
 
ArDeviceConnectionmyConn
 
ArFunctorC< ArPTZmyConnectCB
 
ArRobotmyRobot
 
ArRetFunctor1C< bool, ArPTZ,
ArRobotPacket * > 
myRobotPacketHandlerCB
 
ArFunctorC< ArPTZmySensorInterpCB
 

Detailed Description

A class to use the sony pan tilt zoom unit.

Examples:
sonyPTZDemo.cpp.

Member Enumeration Documentation

anonymous enum
Enumerator
MAX_PAN 

maximum degrees the unit can pan (either direction)

MAX_TILT 

maximum degrees the unit can tilt (either direction)

MIN_ZOOM 

minimum value for zoom

MAX_ZOOM 

maximum value for zoom


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