Detailed Description

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

Definition at line 24 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 constructor. More...

virtual	~CPtuDPerception ()
	Destructor. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

virtual bool	reset (void)
	Reset PTU to initial state. More...

virtual bool	save (void)
	Save or restart default values. More...

virtual bool	restoreDefaults (void)
	Restore default values. More...

virtual bool	restoreFactoryDefaults (void)
	Restore factory default values. More...

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

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

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

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

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

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

virtual bool	changeMotionDir ()

virtual int	checkErrors ()
	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 ()

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

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

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

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

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

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

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

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

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

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

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

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

double	tiltResolution

double	panResolution

Protected Attributes
mrpt::comms::CSerialPort	serPort

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

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

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

virtual bool	radAsign (char axis, char command, double nRad)
	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 384 of file CPtuDPerception.h.

◆ anonymous enum

anonymous enum

Enumerator
Pan
Tilt

Definition at line 407 of file CPtuDPerception.h.

◆ anonymous enum

anonymous enum

Enumerator
Regular
High
Low
Off

Definition at line 412 of file CPtuDPerception.h.

◆ anonymous enum

anonymous enum

Enumerator
Com1
Com2
Com3
Com4

Definition at line 419 of file CPtuDPerception.h.

Constructor & Destructor Documentation

◆ CPtuDPerception()

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

inline

Default constructor.

Definition at line 29 of file CPtuDPerception.h.

◆ ~CPtuDPerception()

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

inlinevirtual

Destructor.

Definition at line 33 of file CPtuDPerception.h.

References close().

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Member Function Documentation

◆ absPosQ()

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

virtual

Query position in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 39 of file CPtuDPerception.cpp.

◆ aceleration()

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

virtual

Specification (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 104 of file CPtuDPerception.cpp.

◆ acelerationQ()

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

virtual

Query (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 113 of file CPtuDPerception.cpp.

◆ aWait()

bool CPtuDPerception::aWait ( void )

virtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 218 of file CPtuDPerception.cpp.

◆ baseSpeed()

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

virtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 122 of file CPtuDPerception.cpp.

◆ baseSpeedQ()

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

virtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 131 of file CPtuDPerception.cpp.

◆ changeMotionDir()

bool CPtuDPerception::changeMotionDir ( )

virtual

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 830 of file CPtuDPerception.cpp.

◆ checkErrors()

int CPtuDPerception::checkErrors ( )

virtual

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 743 of file CPtuDPerception.cpp.

◆ clearErrors()

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

inlinevirtual

Clear errors.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 278 of file CPtuDPerception.h.

References nError, and NoError.

◆ close()

void CPtuDPerception::close ( )

virtual

Close Connection with serial port.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 403 of file CPtuDPerception.cpp.

Referenced by ~CPtuDPerception().

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◆ comError()

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

inline

Definition at line 234 of file CPtuDPerception.h.

References ComError, and nError.

◆ convertToDouble()

double CPtuDPerception::convertToDouble ( char * sDouble )

privatevirtual

Convert string to double.

Definition at line 731 of file CPtuDPerception.cpp.

◆ convertToLong()

long CPtuDPerception::convertToLong ( char * sLong )

privatevirtual

Convert string to long.

Definition at line 719 of file CPtuDPerception.cpp.

◆ echoMode()

bool CPtuDPerception::echoMode ( bool mode )

virtual

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 551 of file CPtuDPerception.cpp.

◆ echoModeQ()

bool CPtuDPerception::echoModeQ ( bool & mode )

virtual

Query echo mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 533 of file CPtuDPerception.cpp.

References mrpt::system::upperCase().

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◆ enableLimits()

bool CPtuDPerception::enableLimits ( bool set )

virtual

Enable/Disable movement limits.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 194 of file CPtuDPerception.cpp.

◆ enableLimitsQ()

bool CPtuDPerception::enableLimitsQ ( bool & enable )

virtual

Query if exist movement limits.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 176 of file CPtuDPerception.cpp.

References mrpt::system::upperCase().

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◆ halt()

bool CPtuDPerception::halt ( char axis )

virtual

Inmediately stop.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 236 of file CPtuDPerception.cpp.

◆ haltAll()

bool CPtuDPerception::haltAll ( )

virtual

Inmediately stop all.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 227 of file CPtuDPerception.cpp.

◆ illegalCommandError()

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

inline

Definition at line 267 of file CPtuDPerception.h.

References IllegalCommandError, and nError.

◆ init()

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

virtual

PTU and serial port initialization.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 341 of file CPtuDPerception.cpp.

References RAD2DEG.

◆ initError()

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

inline

Definition at line 239 of file CPtuDPerception.h.

References InitError, and nError.

◆ inmediateExecution()

bool CPtuDPerception::inmediateExecution ( bool set )

virtual

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 206 of file CPtuDPerception.cpp.

◆ lowerSpeed()

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

virtual

Specification of velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 158 of file CPtuDPerception.cpp.

◆ lowerSpeedQ()

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

virtual

Query velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 167 of file CPtuDPerception.cpp.

◆ maxLimitError()

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

inline

Definition at line 255 of file CPtuDPerception.h.

References MaxLimitError, and nError.

◆ maxPosQ()

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

virtual

Query max movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 68 of file CPtuDPerception.cpp.

◆ minLimitError()

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

inline

Definition at line 259 of file CPtuDPerception.h.

References MinLimitError, and nError.

◆ minPosQ()

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

virtual

Query min movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 77 of file CPtuDPerception.cpp.

◆ moveToAbsPos()

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

virtual

Specification of positions in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 28 of file CPtuDPerception.cpp.

◆ moveToOffPos()

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

virtual

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 48 of file CPtuDPerception.cpp.

◆ noError()

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

inline

Definition at line 233 of file CPtuDPerception.h.

References nError.

◆ nversion()

void CPtuDPerception::nversion ( double & nVersion )

virtual

Number of version.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 807 of file CPtuDPerception.cpp.

◆ offPosQ()

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

virtual

Query position in relative terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 59 of file CPtuDPerception.cpp.

◆ outOfRange()

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

inline

Definition at line 263 of file CPtuDPerception.h.

References nError, and OutOfRange.

◆ panHitError()

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

inline

Definition at line 247 of file CPtuDPerception.h.

References nError, and PanHitError.

◆ panTiltHitError()

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

inline

Definition at line 243 of file CPtuDPerception.h.

References nError, and PanTiltHitError.

◆ posToRad()

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

virtual

To obtain the number of radians for a discrete value.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 707 of file CPtuDPerception.cpp.

◆ powerMode()

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

virtual

Specification of power mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 326 of file CPtuDPerception.cpp.

◆ powerModeQ()

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

virtual

Query power mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 298 of file CPtuDPerception.cpp.

References mrpt::system::upperCase().

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◆ radAsign()

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

privatevirtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 600 of file CPtuDPerception.cpp.

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

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◆ radError()

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

virtual

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 408 of file CPtuDPerception.cpp.

◆ radQuerry()

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

privatevirtual

Used to obtains a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 580 of file CPtuDPerception.cpp.

References convertToLong().

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◆ radToPos()

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

virtual

To obtain the discrete value for a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 695 of file CPtuDPerception.cpp.

◆ rangeMeasure()

bool CPtuDPerception::rangeMeasure ( )

virtual

Search limit forward.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 840 of file CPtuDPerception.cpp.

◆ receive()

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

privatevirtual

To receive the responseof the PTU.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 445 of file CPtuDPerception.cpp.

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

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◆ reset()

bool CPtuDPerception::reset ( void )

virtual

Reset PTU to initial state.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 250 of file CPtuDPerception.cpp.

◆ resolution()

bool CPtuDPerception::resolution ( void )

virtual

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

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 563 of file CPtuDPerception.cpp.

References DEG2RAD.

◆ restoreDefaults()

bool CPtuDPerception::restoreDefaults ( void )

virtual

Restore default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 271 of file CPtuDPerception.cpp.

◆ restoreFactoryDefaults()

bool CPtuDPerception::restoreFactoryDefaults ( void )

virtual

Restore factory default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 280 of file CPtuDPerception.cpp.

◆ save()

bool CPtuDPerception::save ( void )

virtual

Save or restart default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 262 of file CPtuDPerception.cpp.

◆ scan()

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

virtual

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 620 of file CPtuDPerception.cpp.

◆ setLimits()

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

virtual

Set limits of movement.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 817 of file CPtuDPerception.cpp.

References MRPT_UNUSED_PARAM.

◆ speed()

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

virtual

Specification of turn speed.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 86 of file CPtuDPerception.cpp.

◆ speedQ()

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

virtual

Query turn speed.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 95 of file CPtuDPerception.cpp.

◆ status()

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

inlinevirtual

Check if ptu is moving.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 197 of file CPtuDPerception.h.

References MRPT_UNUSED_PARAM.

◆ tiltHitError()

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

inline

Definition at line 251 of file CPtuDPerception.h.

References nError, and TiltHitError.

◆ timeoutError()

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

inline

Definition at line 235 of file CPtuDPerception.h.

References nError, and TimeoutError.

◆ transmit()

bool CPtuDPerception::transmit ( const char * command )

privatevirtual

To transmition commands to the PTU.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 424 of file CPtuDPerception.cpp.

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

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◆ unExpectedError()

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

inline

Definition at line 271 of file CPtuDPerception.h.

References nError, and UnExpectedError.

◆ upperSpeed()

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

virtual

Specification of velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 140 of file CPtuDPerception.cpp.

◆ upperSpeedQ()

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

virtual

Query velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 149 of file CPtuDPerception.cpp.

◆ verbose()

bool CPtuDPerception::verbose ( bool set )

virtual

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 521 of file CPtuDPerception.cpp.

◆ verboseQ()

bool CPtuDPerception::verboseQ ( bool & modo )

virtual

Query verbose mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 503 of file CPtuDPerception.cpp.

◆ version()

bool CPtuDPerception::version ( char * nVersion )

virtual

Version and CopyRights.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 289 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 comunication.

Definition at line 405 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 28 of file CPtuBase.h.

◆ serPort

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

protectedinherited

Definition at line 31 of file CPtuBase.h.

◆ tiltResolution

double mrpt::hwdrivers::CPtuBase::tiltResolution

inherited

Definition at line 28 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()

◆ tiltHitError()

◆ timeoutError()

◆ transmit()

◆ unExpectedError()

◆ upperSpeed()

◆ upperSpeedQ()

◆ verbose()

◆ verboseQ()

◆ version()