Detailed Description

This class implements initialization and communication methods to control a Pan and Tilt Unit model PTU-46-17.5, working in radians .

Definition at line 21 of file CPtuDPerception.h.

#include <mrpt/hwdrivers/CPtuDPerception.h>

Inheritance diagram for mrpt::hwdrivers::CPtuDPerception:

Public Types
enum	{ NoError = 1, ComError = 2, TimeoutError = 3, InitError = 5, PanHitError = 7, TiltHitError = 11, PanTiltHitError = 13, MaxLimitError = 17, MinLimitError = 19, OutOfRange = 23, IllegalCommandError = 29, UnExpectedError = 31 }

enum	{ Pan = 'P', Tilt = 'T' }

enum	{ Regular = 'R', High = 'H', Low = 'L', Off = 'O' }

enum	{ Com1 = 1, Com2 = 2, Com3 = 3, Com4 = 4 }

Public Member Functions
	CPtuDPerception ()=default
	Default constructor. More...

	~CPtuDPerception () override
	Destructor. More...

bool	rangeMeasure () override
	Search limit forward. More...

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

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

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

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

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

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

bool	enableLimitsQ (bool &enable) override
	Query if exist movement limits. More...

bool	enableLimits (bool set) override
	Enable/Disable movement limits. More...

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

bool	aWait () override
	Wait the finish of the last position command to continue accept commands. More...

bool	haltAll () override
	Inmediately stop all. More...

bool	halt (char axis) override
	Inmediately stop. More...

bool	speed (char axis, double radSec) override
	Specification of turn speed. More...

bool	speedQ (char axis, double &radSec) override
	Query turn speed. More...

bool	aceleration (char axis, double radSec2) override
	Specification (de/a)celeration in turn. More...

bool	acelerationQ (char axis, double &radSec2) override
	Query (de/a)celeration in turn. More...

bool	baseSpeed (char axis, double radSec) override
	Specification of velocity to which start and finish the (de/a)celeration. More...

bool	baseSpeedQ (char axis, double &radSec) override
	Query velocity to which start and finish the (de/a)celeration. More...

bool	upperSpeed (char axis, double radSec) override
	Specification of velocity upper limit. More...

bool	upperSpeedQ (char axis, double &radSec) override
	Query velocity upper limit. More...

bool	lowerSpeed (char axis, double radSec) override
	Specification of velocity lower limit. More...

bool	lowerSpeedQ (char axis, double &radSec) override
	Query velocity lower limit. More...

bool	reset () override
	Reset PTU to initial state. More...

bool	save () override
	Save or restart default values. More...

bool	restoreDefaults () override
	Restore default values. More...

bool	restoreFactoryDefaults () override
	Restore factory default values. More...

bool	version (char *nVersion) override
	Version and CopyRights. More...

void	nversion (double &nVersion) override
	Number of version. More...

bool	powerModeQ (bool transit, char &mode) override
	Query power mode. More...

bool	powerMode (bool transit, char mode) override
	Specification of power mode. More...

double	status ([[maybe_unused]] double &rad) override
	Check if ptu is moving. More...

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

bool	changeMotionDir () override

int	checkErrors () override
	Check errors, returns 0 if there are not errors or error code in otherwise Error codes: More...

bool	noError ()

bool	comError ()

bool	timeoutError ()

bool	initError ()

bool	panTiltHitError ()

bool	panHitError ()

bool	tiltHitError ()

bool	maxLimitError ()

bool	minLimitError ()

bool	outOfRange ()

bool	illegalCommandError ()

bool	unExpectedError ()

void	clearErrors () override
	Clear errors. More...

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

void	close () override
	Close Connection with serial port. More...

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

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

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

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

bool	verboseQ (bool &modo) override
	Query verbose mode. More...

bool	verbose (bool set) override
	Set verbose. More...

bool	echoModeQ (bool &mode) override
	Query echo mode. More...

bool	echoMode (bool mode) override
	Enable/Disable echo response with command. More...

bool	resolution () override
	Query the pan and tilt resolution per position moved and initialize local atributes. More...

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

Public Attributes
int	nError
	TimeoutError: Only occurs if the communication is cut with PTU so it is advisable to check the connection and initialize again the communication. More...

double	tiltResolution

double	panResolution

Protected Attributes
mrpt::comms::CSerialPort	serPort

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

bool	receive (const char command, char response) override
	To receive the responseof the PTU. More...

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

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

virtual double	convertToDouble (char *sDouble)
	Convert string to double. More...

virtual long	convertToLong (char *sLong)
	Convert string to long. More...

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
NoError
ComError
TimeoutError
InitError
PanHitError
TiltHitError
PanTiltHitError
MaxLimitError
MinLimitError
OutOfRange
IllegalCommandError
UnExpectedError

Definition at line 377 of file CPtuDPerception.h.

◆ anonymous enum

anonymous enum

Enumerator
Pan
Tilt

Definition at line 400 of file CPtuDPerception.h.

◆ anonymous enum

anonymous enum

Enumerator
Regular
High
Low
Off

Definition at line 405 of file CPtuDPerception.h.

◆ anonymous enum

anonymous enum

Enumerator
Com1
Com2
Com3
Com4

Definition at line 412 of file CPtuDPerception.h.

Constructor & Destructor Documentation

◆ CPtuDPerception()

mrpt::hwdrivers::CPtuDPerception::CPtuDPerception ( )

default

Default constructor.

◆ ~CPtuDPerception()

mrpt::hwdrivers::CPtuDPerception::~CPtuDPerception ( )

inlineoverride

Destructor.

Definition at line 30 of file CPtuDPerception.h.

References close().

Here is the call graph for this function:

Member Function Documentation

◆ absPosQ()

bool CPtuDPerception::absPosQ	(	char	axis,
		double &	nRad
	)

overridevirtual

Query position in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 41 of file CPtuDPerception.cpp.

◆ aceleration()

bool CPtuDPerception::aceleration	(	char	axis,
		double	radSec2
	)

overridevirtual

Specification (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 106 of file CPtuDPerception.cpp.

◆ acelerationQ()

bool CPtuDPerception::acelerationQ	(	char	axis,
		double &	radSec2
	)

overridevirtual

Query (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 115 of file CPtuDPerception.cpp.

◆ aWait()

bool CPtuDPerception::aWait ( )

overridevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 220 of file CPtuDPerception.cpp.

◆ baseSpeed()

bool CPtuDPerception::baseSpeed	(	char	axis,
		double	radSec
	)

overridevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 124 of file CPtuDPerception.cpp.

◆ baseSpeedQ()

bool CPtuDPerception::baseSpeedQ	(	char	axis,
		double &	radSec
	)

overridevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 133 of file CPtuDPerception.cpp.

◆ changeMotionDir()

bool CPtuDPerception::changeMotionDir ( )

overridevirtual

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 831 of file CPtuDPerception.cpp.

◆ checkErrors()

int CPtuDPerception::checkErrors ( )

overridevirtual

Check errors, returns 0 if there are not errors or error code in otherwise Error codes:

Com error
Time out error
Init error
Pan tilt hit error
Pan hit error
Tilt hit error
Max limit error
Min limit error
Out of range
Illegal command error
Unexpected error

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 745 of file CPtuDPerception.cpp.

◆ clearErrors()

void mrpt::hwdrivers::CPtuDPerception::clearErrors ( )

inlineoverridevirtual

Clear errors.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 271 of file CPtuDPerception.h.

References nError, and NoError.

◆ close()

void CPtuDPerception::close ( )

overridevirtual

Close Connection with serial port.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 405 of file CPtuDPerception.cpp.

Referenced by ~CPtuDPerception().

Here is the caller graph for this function:

◆ comError()

bool mrpt::hwdrivers::CPtuDPerception::comError ( )

inline

Definition at line 227 of file CPtuDPerception.h.

References ComError, and nError.

◆ convertToDouble()

double CPtuDPerception::convertToDouble ( char * sDouble )

privatevirtual

Convert string to double.

Definition at line 733 of file CPtuDPerception.cpp.

◆ convertToLong()

long CPtuDPerception::convertToLong ( char * sLong )

privatevirtual

Convert string to long.

Definition at line 721 of file CPtuDPerception.cpp.

◆ echoMode()

bool CPtuDPerception::echoMode ( bool mode )

overridevirtual

Enable/Disable echo response with command.

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 553 of file CPtuDPerception.cpp.

◆ echoModeQ()

bool CPtuDPerception::echoModeQ ( bool & mode )

overridevirtual

Query echo mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 535 of file CPtuDPerception.cpp.

References mrpt::system::upperCase().

Here is the call graph for this function:

◆ enableLimits()

bool CPtuDPerception::enableLimits ( bool set )

overridevirtual

Enable/Disable movement limits.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 196 of file CPtuDPerception.cpp.

◆ enableLimitsQ()

bool CPtuDPerception::enableLimitsQ ( bool & enable )

overridevirtual

Query if exist movement limits.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 178 of file CPtuDPerception.cpp.

References mrpt::system::upperCase().

Here is the call graph for this function:

◆ halt()

bool CPtuDPerception::halt ( char axis )

overridevirtual

Inmediately stop.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 238 of file CPtuDPerception.cpp.

◆ haltAll()

bool CPtuDPerception::haltAll ( )

overridevirtual

Inmediately stop all.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 229 of file CPtuDPerception.cpp.

◆ illegalCommandError()

bool mrpt::hwdrivers::CPtuDPerception::illegalCommandError ( )

inline

Definition at line 260 of file CPtuDPerception.h.

References IllegalCommandError, and nError.

◆ init()

bool CPtuDPerception::init ( const std::string & port )

overridevirtual

PTU and serial port initialization.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 343 of file CPtuDPerception.cpp.

References RAD2DEG, and verbose.

◆ initError()

bool mrpt::hwdrivers::CPtuDPerception::initError ( )

inline

Definition at line 232 of file CPtuDPerception.h.

References InitError, and nError.

◆ inmediateExecution()

bool CPtuDPerception::inmediateExecution ( bool set )

overridevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 208 of file CPtuDPerception.cpp.

◆ lowerSpeed()

bool CPtuDPerception::lowerSpeed	(	char	axis,
		double	radSec
	)

overridevirtual

Specification of velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 160 of file CPtuDPerception.cpp.

◆ lowerSpeedQ()

bool CPtuDPerception::lowerSpeedQ	(	char	axis,
		double &	radSec
	)

overridevirtual

Query velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 169 of file CPtuDPerception.cpp.

◆ maxLimitError()

bool mrpt::hwdrivers::CPtuDPerception::maxLimitError ( )

inline

Definition at line 248 of file CPtuDPerception.h.

References MaxLimitError, and nError.

◆ maxPosQ()

bool CPtuDPerception::maxPosQ	(	char	axis,
		double &	nRad
	)

overridevirtual

Query max movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 70 of file CPtuDPerception.cpp.

◆ minLimitError()

bool mrpt::hwdrivers::CPtuDPerception::minLimitError ( )

inline

Definition at line 252 of file CPtuDPerception.h.

References MinLimitError, and nError.

◆ minPosQ()

bool CPtuDPerception::minPosQ	(	char	axis,
		double &	nRad
	)

overridevirtual

Query min movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 79 of file CPtuDPerception.cpp.

◆ moveToAbsPos()

bool CPtuDPerception::moveToAbsPos	(	char	axis,
		double	nRad
	)

overridevirtual

Specification of positions in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 30 of file CPtuDPerception.cpp.

◆ moveToOffPos()

bool CPtuDPerception::moveToOffPos	(	char	axis,
		double	nRad
	)

overridevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 50 of file CPtuDPerception.cpp.

◆ noError()

bool mrpt::hwdrivers::CPtuDPerception::noError ( )

inline

Definition at line 226 of file CPtuDPerception.h.

References nError.

◆ nversion()

void CPtuDPerception::nversion ( double & nVersion )

overridevirtual

Number of version.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 809 of file CPtuDPerception.cpp.

◆ offPosQ()

bool CPtuDPerception::offPosQ	(	char	axis,
		double &	nRad
	)

overridevirtual

Query position in relative terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 61 of file CPtuDPerception.cpp.

◆ outOfRange()

bool mrpt::hwdrivers::CPtuDPerception::outOfRange ( )

inline

Definition at line 256 of file CPtuDPerception.h.

References nError, and OutOfRange.

◆ panHitError()

bool mrpt::hwdrivers::CPtuDPerception::panHitError ( )

inline

Definition at line 240 of file CPtuDPerception.h.

References nError, and PanHitError.

◆ panTiltHitError()

bool mrpt::hwdrivers::CPtuDPerception::panTiltHitError ( )

inline

Definition at line 236 of file CPtuDPerception.h.

References nError, and PanTiltHitError.

◆ posToRad()

double CPtuDPerception::posToRad	(	char	axis,
		long	nPos
	)

overridevirtual

To obtain the number of radians for a discrete value.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 709 of file CPtuDPerception.cpp.

◆ powerMode()

bool CPtuDPerception::powerMode	(	bool	transit,
		char	mode
	)

overridevirtual

Specification of power mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 328 of file CPtuDPerception.cpp.

◆ powerModeQ()

bool CPtuDPerception::powerModeQ	(	bool	transit,
		char &	mode
	)

overridevirtual

Query power mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 300 of file CPtuDPerception.cpp.

References mrpt::system::upperCase().

Here is the call graph for this function:

◆ radAsign()

bool CPtuDPerception::radAsign	(	char	axis,
		char	command,
		double	nRad
	)

overrideprivatevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 602 of file CPtuDPerception.cpp.

References mrpt::system::os::sprintf(), and mrpt::system::os::strcpy().

Here is the call graph for this function:

◆ radError()

double CPtuDPerception::radError	(	char	axis,
		double	nRadMoved
	)

overridevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 410 of file CPtuDPerception.cpp.

◆ radQuerry()

bool CPtuDPerception::radQuerry	(	char	axis,
		char	command,
		double &	nRad
	)

overrideprivatevirtual

Used to obtains a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 582 of file CPtuDPerception.cpp.

References convertToLong().

Here is the call graph for this function:

◆ radToPos()

long CPtuDPerception::radToPos	(	char	axis,
		double	nRad
	)

overridevirtual

To obtain the discrete value for a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 697 of file CPtuDPerception.cpp.

◆ rangeMeasure()

bool CPtuDPerception::rangeMeasure ( )

overridevirtual

Search limit forward.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 841 of file CPtuDPerception.cpp.

◆ receive()

bool CPtuDPerception::receive	(	const char *	command,
		char *	response
	)

overrideprivatevirtual

To receive the responseof the PTU.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 447 of file CPtuDPerception.cpp.

References mrpt::system::os::strcpy().

Here is the call graph for this function:

◆ reset()

bool CPtuDPerception::reset ( )

overridevirtual

Reset PTU to initial state.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 252 of file CPtuDPerception.cpp.

◆ resolution()

bool CPtuDPerception::resolution ( )

overridevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 565 of file CPtuDPerception.cpp.

References DEG2RAD.

◆ restoreDefaults()

bool CPtuDPerception::restoreDefaults ( )

overridevirtual

Restore default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 273 of file CPtuDPerception.cpp.

◆ restoreFactoryDefaults()

bool CPtuDPerception::restoreFactoryDefaults ( )

overridevirtual

Restore factory default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 282 of file CPtuDPerception.cpp.

◆ save()

bool CPtuDPerception::save ( )

overridevirtual

Save or restart default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 264 of file CPtuDPerception.cpp.

◆ scan()

bool CPtuDPerception::scan	(	char	axis,
		int	wait,
		float	initial,
		float	final,
		double	radPre
	)

overridevirtual

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}

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 622 of file CPtuDPerception.cpp.

◆ setLimits()

bool CPtuDPerception::setLimits	(	char	axis,
		double &	l,
		double &	u
	)

overridevirtual

Set limits of movement.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 819 of file CPtuDPerception.cpp.

◆ speed()

bool CPtuDPerception::speed	(	char	axis,
		double	radSec
	)

overridevirtual

Specification of turn speed.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 88 of file CPtuDPerception.cpp.

◆ speedQ()

bool CPtuDPerception::speedQ	(	char	axis,
		double &	radSec
	)

overridevirtual

Query turn speed.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 97 of file CPtuDPerception.cpp.

◆ status() [1/2]

double mrpt::hwdrivers::CPtuDPerception::status ( [[maybe_unused] ] double & rad )

inlineoverride

Check if ptu is moving.

Definition at line 194 of file CPtuDPerception.h.

◆ status() [2/2]

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

pure virtualinherited

Check if ptu is moving.

Implemented in mrpt::hwdrivers::CTuMicos.

◆ tiltHitError()

bool mrpt::hwdrivers::CPtuDPerception::tiltHitError ( )

inline

Definition at line 244 of file CPtuDPerception.h.

References nError, and TiltHitError.

◆ timeoutError()

bool mrpt::hwdrivers::CPtuDPerception::timeoutError ( )

inline

Definition at line 228 of file CPtuDPerception.h.

References nError, and TimeoutError.

◆ transmit()

bool CPtuDPerception::transmit ( const char * command )

overrideprivatevirtual

To transmition commands to the PTU.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 426 of file CPtuDPerception.cpp.

References mrpt::system::os::strcat(), and mrpt::system::os::strcpy().

Here is the call graph for this function:

◆ unExpectedError()

bool mrpt::hwdrivers::CPtuDPerception::unExpectedError ( )

inline

Definition at line 264 of file CPtuDPerception.h.

References nError, and UnExpectedError.

◆ upperSpeed()

bool CPtuDPerception::upperSpeed	(	char	axis,
		double	radSec
	)

overridevirtual

Specification of velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 142 of file CPtuDPerception.cpp.

◆ upperSpeedQ()

bool CPtuDPerception::upperSpeedQ	(	char	axis,
		double &	radSec
	)

overridevirtual

Query velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 151 of file CPtuDPerception.cpp.

◆ verbose()

bool CPtuDPerception::verbose ( bool set )

overridevirtual

Set verbose.

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 523 of file CPtuDPerception.cpp.

◆ verboseQ()

bool CPtuDPerception::verboseQ ( bool & modo )

overridevirtual

Query verbose mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 505 of file CPtuDPerception.cpp.

◆ version()

bool CPtuDPerception::version ( char * nVersion )

overridevirtual

Version and CopyRights.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 291 of file CPtuDPerception.cpp.

Member Data Documentation

◆ nError

int mrpt::hwdrivers::CPtuDPerception::nError

TimeoutError: Only occurs if the communication is cut with PTU so it is advisable to check the connection and initialize again the communication.

Definition at line 398 of file CPtuDPerception.h.

Referenced by clearErrors(), comError(), illegalCommandError(), initError(), maxLimitError(), minLimitError(), noError(), outOfRange(), panHitError(), panTiltHitError(), tiltHitError(), timeoutError(), and unExpectedError().

◆ panResolution

double mrpt::hwdrivers::CPtuBase::panResolution

inherited

Definition at line 25 of file CPtuBase.h.

◆ serPort

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

protectedinherited

Definition at line 28 of file CPtuBase.h.

◆ tiltResolution

double mrpt::hwdrivers::CPtuBase::tiltResolution

inherited

Definition at line 25 of file CPtuBase.h.

Detailed Description

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Private Member Functions

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPtuDPerception()

◆ ~CPtuDPerception()

Member Function Documentation

◆ absPosQ()

◆ aceleration()

◆ acelerationQ()

◆ aWait()

◆ baseSpeed()

◆ baseSpeedQ()

◆ changeMotionDir()

◆ checkErrors()

◆ clearErrors()

◆ close()

◆ comError()

◆ convertToDouble()

◆ convertToLong()

◆ echoMode()

◆ echoModeQ()

◆ enableLimits()

◆ enableLimitsQ()

◆ halt()

◆ haltAll()

◆ illegalCommandError()

◆ init()

◆ initError()

◆ inmediateExecution()

◆ lowerSpeed()

◆ lowerSpeedQ()

◆ maxLimitError()

◆ maxPosQ()

◆ minLimitError()

◆ minPosQ()

◆ moveToAbsPos()

◆ moveToOffPos()

◆ noError()

◆ nversion()

◆ offPosQ()

◆ outOfRange()

◆ panHitError()

◆ panTiltHitError()

◆ posToRad()

◆ powerMode()

◆ powerModeQ()

◆ radAsign()

◆ radError()

◆ radQuerry()

◆ radToPos()

◆ rangeMeasure()

◆ receive()

◆ reset()

◆ resolution()

◆ restoreDefaults()

◆ restoreFactoryDefaults()

◆ save()

◆ scan()

◆ setLimits()

◆ speed()

◆ speedQ()

◆ status() [1/2]

◆ status() [2/2]

◆ tiltHitError()

◆ timeoutError()

◆ transmit()

◆ unExpectedError()

◆ upperSpeed()

◆ upperSpeedQ()

◆ verbose()

◆ verboseQ()