Aria  2.7.5.2
ArRVisionPTZ Class Reference

#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 ArBasePacketreadPacket (void)
 
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 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 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
 
- 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

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.

Since
2.7.0
Examples:
rvisionCameraExample.cpp.

Member Enumeration Documentation

anonymous enum
Enumerator
MAX_PAN 

maximum degrees the unit can pan (clockwise from top)

MIN_PAN 

minimum degrees the unit can pan (counterclockwise from top)

MIN_TILT 

minimum degrees the unit can tilt

MAX_TILT 

maximum degrees the unit can tilt

MIN_ZOOM 

minimum value for zoom

MAX_ZOOM 

maximum value for zoom

TILT_OFFSET_IN_DEGREES 

offset value to convert internal camera coords to world

PAN_OFFSET_IN_DEGREES 

offset value to convert internal camera coords to world


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