Detailed Description

This class implements initialization and communication methods to control a Tilt Unit model DT-80, working in radians .

Definition at line 22 of file CTuMicos.h.

#include <mrpt/hwdrivers/CTuMicos.h>

Inheritance diagram for mrpt::hwdrivers::CTuMicos:

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

	~CTuMicos () 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...

bool	clear ()
	Clear controller internal stack. 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 otherwise. More...

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...

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

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
int	axis_index

double	tiltResolution

double	panResolution

Protected Attributes
mrpt::comms::CSerialPort	serPort

VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

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...

Static Private Member Functions
static double	convertToDouble (char *sDouble)
	Convert string to double. More...

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

Logging methods
bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...

void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

Constructor & Destructor Documentation

◆ CTuMicos()

mrpt::hwdrivers::CTuMicos::CTuMicos ( )

default

Default constructor.

◆ ~CTuMicos()

mrpt::hwdrivers::CTuMicos::~CTuMicos ( )

inlineoverride

Destructor.

Definition at line 31 of file CTuMicos.h.

References close().

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Member Function Documentation

◆ absPosQ()

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

overridevirtual

Query position in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 63 of file CTuMicos.cpp.

◆ aceleration()

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

overridevirtual

Specification (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 131 of file CTuMicos.cpp.

◆ acelerationQ()

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

overridevirtual

Query (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 142 of file CTuMicos.cpp.

◆ aWait()

bool CTuMicos::aWait ( )

overridevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 252 of file CTuMicos.cpp.

◆ baseSpeed()

bool CTuMicos::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 153 of file CTuMicos.cpp.

◆ baseSpeedQ()

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

overridevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 164 of file CTuMicos.cpp.

◆ changeMotionDir()

bool CTuMicos::changeMotionDir ( )

overridevirtual

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 406 of file CTuMicos.cpp.

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

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◆ checkErrors()

int CTuMicos::checkErrors ( )

overridevirtual

Check errors, returns 0 if there are not errors or error code otherwise.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 782 of file CTuMicos.cpp.

◆ clear()

bool CTuMicos::clear ( )

Clear controller internal stack.

Definition at line 378 of file CTuMicos.cpp.

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

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◆ clearErrors()

void mrpt::hwdrivers::CTuMicos::clearErrors ( )

inlineoverridevirtual

Clear errors.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 211 of file CTuMicos.h.

◆ close()

void CTuMicos::close ( )

overridevirtual

Close Connection with serial port.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 494 of file CTuMicos.cpp.

Referenced by ~CTuMicos().

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◆ convertToDouble()

double CTuMicos::convertToDouble ( char * sDouble )

staticprivate

Convert string to double.

Definition at line 770 of file CTuMicos.cpp.

◆ convertToLong()

long CTuMicos::convertToLong ( char * sLong )

staticprivate

Convert string to long.

Definition at line 759 of file CTuMicos.cpp.

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ echoMode()

bool CTuMicos::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 605 of file CTuMicos.cpp.

◆ echoModeQ()

bool CTuMicos::echoModeQ ( bool & mode )

overridevirtual

Query echo mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 594 of file CTuMicos.cpp.

◆ enableLimits()

bool CTuMicos::enableLimits ( bool set )

overridevirtual

Enable/Disable movement limits.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 230 of file CTuMicos.cpp.

◆ enableLimitsQ()

bool CTuMicos::enableLimitsQ ( bool & enable )

overridevirtual

Query if exist movement limits.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 219 of file CTuMicos.cpp.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ halt()

bool CTuMicos::halt ( char axis )

overridevirtual

Inmediately stop.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 268 of file CTuMicos.cpp.

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

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◆ haltAll()

bool CTuMicos::haltAll ( )

overridevirtual

Inmediately stop all.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 257 of file CTuMicos.cpp.

◆ init()

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

overridevirtual

PTU and serial port initialization.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 432 of file CTuMicos.cpp.

References mrpt::containers::clear(), and MRPT_LOG_ERROR_STREAM.

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◆ inmediateExecution()

bool CTuMicos::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 241 of file CTuMicos.cpp.

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		std::string_view	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ lowerSpeed()

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

overridevirtual

Specification of velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 197 of file CTuMicos.cpp.

◆ lowerSpeedQ()

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

overridevirtual

Query velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 208 of file CTuMicos.cpp.

◆ maxPosQ()

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

overridevirtual

Query max movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 95 of file CTuMicos.cpp.

◆ minPosQ()

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

overridevirtual

Query min movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 104 of file CTuMicos.cpp.

◆ moveToAbsPos()

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

overridevirtual

Specification of positions in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 49 of file CTuMicos.cpp.

References RAD2DEG, and mrpt::system::os::sprintf().

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◆ moveToOffPos()

bool CTuMicos::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 72 of file CTuMicos.cpp.

References RAD2DEG, and mrpt::system::os::sprintf().

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◆ nversion()

void CTuMicos::nversion ( double & nVersion )

overridevirtual

Number of version.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 346 of file CTuMicos.cpp.

◆ offPosQ()

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

overridevirtual

Query position in relative terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 86 of file CTuMicos.cpp.

◆ posToRad()

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

overridevirtual

To obtain the number of radians for a discrete value.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 748 of file CTuMicos.cpp.

◆ powerMode()

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

overridevirtual

Specification of power mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 367 of file CTuMicos.cpp.

◆ powerModeQ()

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

overridevirtual

Query power mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 356 of file CTuMicos.cpp.

◆ radAsign()

bool CTuMicos::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 709 of file CTuMicos.cpp.

References RAD2DEG, and mrpt::system::os::sprintf().

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◆ radError()

double CTuMicos::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 508 of file CTuMicos.cpp.

◆ radQuerry()

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

overrideprivatevirtual

Used to obtains a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 632 of file CTuMicos.cpp.

References DEG2RAD, mrpt::system::os::sprintf(), and mrpt::system::strtok().

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◆ radToPos()

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

overridevirtual

To obtain the discrete value for a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 737 of file CTuMicos.cpp.

◆ rangeMeasure()

bool CTuMicos::rangeMeasure ( )

overridevirtual

Search limit forward.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 29 of file CTuMicos.cpp.

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

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◆ receive()

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

overrideprivatevirtual

To receive the responseof the PTU.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 542 of file CTuMicos.cpp.

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

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◆ reset()

bool CTuMicos::reset ( )

overridevirtual

Reset PTU to initial state.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 282 of file CTuMicos.cpp.

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

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◆ resolution()

bool CTuMicos::resolution ( )

overridevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 616 of file CTuMicos.cpp.

◆ restoreDefaults()

bool CTuMicos::restoreDefaults ( )

overridevirtual

Restore default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 313 of file CTuMicos.cpp.

◆ restoreFactoryDefaults()

bool CTuMicos::restoreFactoryDefaults ( )

overridevirtual

Restore factory default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 324 of file CTuMicos.cpp.

◆ save()

bool CTuMicos::save ( )

overridevirtual

Save or restart default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 302 of file CTuMicos.cpp.

◆ scan()

bool CTuMicos::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 725 of file CTuMicos.cpp.

◆ setLimits()

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

overridevirtual

Set limits of movement.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 392 of file CTuMicos.cpp.

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

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◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ speed()

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

overridevirtual

Specification of turn speed.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 113 of file CTuMicos.cpp.

◆ speedQ()

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

overridevirtual

Query turn speed.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 122 of file CTuMicos.cpp.

◆ status()

double CTuMicos::status ( double & rad )

overridevirtual

Check if ptu is moving.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 627 of file CTuMicos.cpp.

◆ transmit()

bool CTuMicos::transmit ( const char * command )

overrideprivatevirtual

To transmition commands to the PTU.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 519 of file CTuMicos.cpp.

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

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◆ upperSpeed()

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

overridevirtual

Specification of velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 175 of file CTuMicos.cpp.

◆ upperSpeedQ()

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

overridevirtual

Query velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 186 of file CTuMicos.cpp.

◆ verbose()

bool CTuMicos::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 583 of file CTuMicos.cpp.

◆ verboseQ()

bool CTuMicos::verboseQ ( bool & modo )

overridevirtual

Query verbose mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 572 of file CTuMicos.cpp.

◆ version()

bool CTuMicos::version ( char * nVersion )

overridevirtual

Version and CopyRights.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 335 of file CTuMicos.cpp.

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ axis_index

int mrpt::hwdrivers::CTuMicos::axis_index

Definition at line 323 of file CTuMicos.h.

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ 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 Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Private Member Functions

Static Private Member Functions

Logging methods

Constructor & Destructor Documentation

◆ CTuMicos()

◆ ~CTuMicos()

Member Function Documentation

◆ absPosQ()

◆ aceleration()

◆ acelerationQ()

◆ aWait()

◆ baseSpeed()

◆ baseSpeedQ()

◆ changeMotionDir()

◆ checkErrors()

◆ clear()

◆ clearErrors()

◆ close()

◆ convertToDouble()

◆ convertToLong()

◆ dumpLogToConsole()

◆ echoMode()

◆ echoModeQ()

◆ enableLimits()

◆ enableLimitsQ()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ halt()

◆ haltAll()

◆ init()

◆ inmediateExecution()

◆ isLoggingLevelVisible()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ lowerSpeed()

◆ lowerSpeedQ()

◆ maxPosQ()

◆ minPosQ()

◆ moveToAbsPos()

◆ moveToOffPos()

◆ nversion()

◆ offPosQ()

◆ posToRad()

◆ powerMode()

◆ powerModeQ()

◆ radAsign()

◆ radError()

◆ radQuerry()

◆ radToPos()

◆ rangeMeasure()

◆ receive()

◆ reset()

◆ resolution()

◆ restoreDefaults()

◆ restoreFactoryDefaults()

◆ save()

◆ scan()

◆ setLimits()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ speed()

◆ speedQ()

◆ status()

◆ transmit()