MRPT  1.9.9
mrpt::hwdrivers::CPtuDPerception Class Reference

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 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 (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...
 

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

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 381 of file CPtuDPerception.h.

◆ anonymous enum

anonymous enum
Enumerator
Pan 
Tilt 

Definition at line 404 of file CPtuDPerception.h.

◆ anonymous enum

anonymous enum
Enumerator
Regular 
High 
Low 
Off 

Definition at line 409 of file CPtuDPerception.h.

◆ anonymous enum

anonymous enum
Enumerator
Com1 
Com2 
Com3 
Com4 

Definition at line 416 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().

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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 832 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:

1: Com error
2: Time out error
3: Init error
4: Pan tilt hit error
5: Pan hit error
6: Tilt hit error
7: Max limit error
8: Min limit error
9: Out of range
10: Illegal command error
11: 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 275 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().

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◆ comError()

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

Definition at line 231 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().

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◆ 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().

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◆ 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 264 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.

◆ initError()

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

Definition at line 236 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 252 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 256 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 230 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 260 of file CPtuDPerception.h.

References nError, and OutOfRange.

◆ panHitError()

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

Definition at line 244 of file CPtuDPerception.h.

References nError, and PanHitError.

◆ panTiltHitError()

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

Definition at line 240 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().

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◆ 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().

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◆ 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().

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◆ 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 842 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().

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◆ 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.

References MRPT_UNUSED_PARAM.

◆ 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()

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

Check if ptu is moving.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 194 of file CPtuDPerception.h.

References MRPT_UNUSED_PARAM.

◆ tiltHitError()

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

Definition at line 248 of file CPtuDPerception.h.

References nError, and TiltHitError.

◆ timeoutError()

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

Definition at line 232 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().

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◆ unExpectedError()

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

Definition at line 268 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 comunication.

Definition at line 402 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.




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