Aria  2.7.5.2
ArAMPTU Class Reference

Driver for the AMPUT. More...

#include <ArAMPTU.h>

Inherits ArPTZ.

Public Types

enum  { MIN_SLEW = 15, MAX_TILT_SLEW = 200, MAX_PAN_SLEW = 120 }
 

Public Member Functions

 ArAMPTU (ArRobot *robot, int unitNumber=0)
 Constructor. More...
 
virtual bool canZoom (void) const
 
virtual double getMaxNegPan (void) const
 
virtual double getMaxNegTilt (void) const
 
virtual double getMaxPosPan (void) const
 
virtual double getMaxPosTilt (void) const
 
virtual double getPan (void) const
 Gets the angle the camera is panned to.
 
virtual double getTilt (void) const
 Gets the angle the camera is tilted to.
 
virtual bool init (void)
 
virtual bool pan (double deg)
 
virtual bool panRel (double deg)
 
bool panSlew (double deg)
 Sets the rate that the camera pans at.
 
virtual bool panTilt (double panDeg, double tiltDeg)
 
virtual bool panTiltRel (double panDeg, double tiltDeg)
 
bool pause (void)
 Stops current pan/tilt, can be resumed later.
 
bool purge (void)
 Stops motion and purges last command.
 
bool requestStatus (void)
 Retrieves the camera status.
 
bool resume (void)
 Resumes a previously paused pan/tilt.
 
virtual bool tilt (double deg)
 
virtual bool tiltRel (double deg)
 
bool tiltSlew (double deg)
 Sets the rate the camera tilts at.
 
virtual ~ArAMPTU ()
 Destructor.
 
- Public Member Functions inherited from ArPTZ
 ArPTZ (ArRobot *robot)
 
virtual bool canGetFOV (void)
 Whether we can get the FOV (field of view) or not.
 
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 getFOVAtMaxZoom (void)
 Gets the field of view at maximum zoom.
 
virtual double getFOVAtMinZoom (void)
 Gets the field of view at minimum zoom.
 
virtual double getGain (double gain) const
 Get the gain the camera is set to. 0 if not supported.
 
virtual int getMaxZoom (void) const
 Gets the maximum value for the zoom on this camera.
 
virtual int getMinZoom (void) const
 Gets the lowest value for the zoom on this camera.
 
virtual int getZoom (void) const
 
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 bool zoom (int zoomValue)
 Zooms to the given value.
 
virtual bool zoomRel (int zoomValue)
 Zooms relative to the current value, by the given value.
 
virtual ~ArPTZ ()
 Destructor.
 

Protected Attributes

ArAMPTUPacket myPacket
 
double myPan
 
double myPanSlew
 
ArRobotmyRobot
 
double myTilt
 
double myTiltSlew
 
int myUnitNumber
 
- 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

Driver for the AMPUT.

Constructor & Destructor Documentation

ArAMPTU::ArAMPTU ( ArRobot robot,
int  unitNumber = 0 
)

Constructor.

Parameters
robotthe robot to attach to
unitNumberthe unit number for this packet, this needs to be 0-7

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