Aria
2.7.5.2
|
#include <ArRVisionPTZ.h>
Inherits ArPTZ.
Public Types | |
enum | { MAX_PAN = 180, MIN_PAN = -180, MIN_TILT = -30, MAX_TILT = 60, MIN_ZOOM = 0, MAX_ZOOM = 32767, TILT_OFFSET_IN_DEGREES = 38, PAN_OFFSET_IN_DEGREES = 190 } |
Public Member Functions | |
ArRVisionPTZ (ArRobot *robot) | |
virtual bool | canGetFOV (void) |
virtual bool | canGetRealPanTilt (void) const |
virtual bool | canGetRealZoom (void) const |
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 ArBasePacket * | readPacket (void) |
virtual bool | tilt (double degrees) |
virtual bool | tiltRel (double degrees) |
virtual bool | zoom (int zoomValue) |
virtual bool | zoomRel (int zoomValue) |
![]() | |
ArPTZ (ArRobot *robot) | |
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 ArDeviceConnection * | getDeviceConnection (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 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 |
ArRVisionPacket | myInquiryPacket |
ArRVisionPacket | myPacket |
double | myPan |
double | myPanOffsetInDegrees |
ArRVisionPacket | myPanTiltPacket |
double | myTilt |
double | myTiltOffsetInDegrees |
int | myZoom |
ArRVisionPacket | myZoomPacket |
![]() | |
int | myAuxPort |
ArCommands::Commands | myAuxRxCmd |
ArCommands::Commands | myAuxTxCmd |
ArDeviceConnection * | myConn |
ArFunctorC< ArPTZ > | myConnectCB |
ArRobot * | myRobot |
ArRetFunctor1C< bool, ArPTZ, ArRobotPacket * > | myRobotPacketHandlerCB |
ArFunctorC< ArPTZ > | mySensorInterpCB |
Control the RVision camera pan tilt zoom unit. In addition to creating an ArRvisionPTZ instance, you will also need to create an ArSerialConnection object and open the serial port connection (the RVision is normally on COM3 on Seekur and Seekur Jr. robots) and use the setDeviceConnection() method to associate the serial connection with the ArRVisionPTZ object.
anonymous enum |