lti::panTiltUnit Class Reference

Parent class for all pan tilt units. More...

#include <ltiPanTiltUnit.h>

Inheritance diagram for lti::panTiltUnit:

[legend]

Collaboration diagram for lti::panTiltUnit:

[legend]

List of all members.

Classes
class	parameters
	the parameters for the class panTiltUnit More...
Public Member Functions
	panTiltUnit ()
	panTiltUnit (const parameters &par)
	panTiltUnit (const panTiltUnit &other)
virtual	~panTiltUnit ()
virtual const char *	getTypeName () const
panTiltUnit &	copy (const panTiltUnit &other)
panTiltUnit &	operator= (const panTiltUnit &other)
virtual functor *	clone () const =0
const parameters &	getParameters () const
virtual bool	reset ()=0
virtual bool	stopPanTilt ()=0
virtual bool	setPanTilt (float pan, float tilt)=0
bool	setPanTilt (const tpoint< float > &pos)
virtual bool	setPan (float pan)=0
virtual bool	setTilt (float tilt)=0
virtual bool	getPanTilt (float &pan, float &tilt) const =0
tpoint< float >	getPanTilt () const
virtual float	getPan () const =0
virtual float	getTilt () const =0
virtual bool	getMinPanTilt (float &minPan, float &minTilt) const
tpoint< float >	getMinPanTilt () const
virtual bool	getMaxPanTilt (float &maxPan, float &maxTilt) const
tpoint< float >	getMaxPanTilt () const
virtual float	getMinPan () const
virtual float	getMaxPan () const
virtual float	getMinTilt () const
virtual float	getMaxTilt () const

Detailed Description

Parent class for all pan tilt units.

Inherited classes should use the parameter angleFormat to allow passing the pan and tilt values in either degrees or radians. Please add all values (which can be set) as parameters to allow construction with application specific settings. During operation, value settings using a specific method is more efficient as by setParameters. Pan tilt constants, e.g. the max. pan and tilt, should be defined as constant static parameters.

Please note that the camera may take a little while until a pan or tilt position is reached. Thus the values in the parameters and those returned by the get-methods may differ.

The parameter functionality was reimplemented, following the functor's concept, because of a problem with multiple inheritance, which occures when deriving classed which are both a camera and a panTiltUnit.

Constructor & Destructor Documentation

lti::panTiltUnit::panTiltUnit ( )

default constructor

lti::panTiltUnit::panTiltUnit ( const parameters & par )

Construct a functor using the given parameters.

lti::panTiltUnit::panTiltUnit ( const panTiltUnit & other )

copy constructor

Parameters:

other

the object to be copied

virtual lti::panTiltUnit::~panTiltUnit ( ) [virtual]

destructor

Member Function Documentation

virtual functor* lti::panTiltUnit::clone ( ) const [pure virtual]

returns a pointer to a clone of this functor.

Implements lti::functor.

Implemented in lti::directedPerceptionPTU, and lti::sonyEviD100P.

panTiltUnit& lti::panTiltUnit::copy ( const panTiltUnit & other )

copy data of "other" functor.

Parameters:

other

the functor to be copied

Returns:: a reference to this functor object

Reimplemented from lti::functor.

Reimplemented in lti::directedPerceptionPTU, and lti::sonyEviD100P.

virtual float lti::panTiltUnit::getMaxPan ( ) const [virtual]

Returns:: the max. supported pan position as specified by angleFormat

tpoint<float> lti::panTiltUnit::getMaxPanTilt ( ) const [inline]

Returns:: the max. supported pan and tilt positions as specified by angleFormat

References lti::tpoint< T >::x, and lti::tpoint< T >::y.

virtual bool lti::panTiltUnit::getMaxPanTilt	(	float &	maxPan,
		float &	maxTilt
	)			const `[virtual]`

get the max.

supported pan and tilt positions as specified by angleFormat

Parameters:

	maxPan	the max. pan position
	maxTilt	the max. tilt position

Returns:: true on success

virtual float lti::panTiltUnit::getMaxTilt ( ) const [virtual]

Returns:: the max. supported tilt position as specified by angleFormat

virtual float lti::panTiltUnit::getMinPan ( ) const [virtual]

Returns:: the min. supported pan position as specified by angleFormat

tpoint<float> lti::panTiltUnit::getMinPanTilt ( ) const [inline]

Returns:: the min. supported pan and tilt positions as specified by angleFormat

References lti::tpoint< T >::x, and lti::tpoint< T >::y.

virtual bool lti::panTiltUnit::getMinPanTilt	(	float &	minPan,
		float &	minTilt
	)			const `[virtual]`

get the min.

supported pan and tilt positions as specified by angleFormat

Parameters:

	minPan	the min. pan position
	minTilt	the min. tilt position

Returns:: true on success

virtual float lti::panTiltUnit::getMinTilt ( ) const [virtual]

Returns:: the min. supported tilt position as specified by angleFormat

virtual float lti::panTiltUnit::getPan ( ) const [pure virtual]

Returns:: the current pan position

Implemented in lti::directedPerceptionPTU, and lti::sonyEviD100P.

tpoint<float> lti::panTiltUnit::getPanTilt ( ) const [inline]

get the current pan and tilt position.

The combined get-method guarantees pan and tilt positions of the same time instant.

Returns:: the current pan and tilt position

References lti::tpoint< T >::x, and lti::tpoint< T >::y.

virtual bool lti::panTiltUnit::getPanTilt	(	float &	pan,
		float &	tilt
	)			const `[pure virtual]`

get the current pan and tilt position.

The combined get-methods guarantee pan and tilt positions of the same time instant.

Parameters:

	pan	the pan position which the device is in
	tilt	the tilt position which the device is in

Returns:: true on success

Implemented in lti::directedPerceptionPTU, and lti::sonyEviD100P.

const parameters& lti::panTiltUnit::getParameters ( ) const

returns used parameters

Reimplemented from lti::functor.

Reimplemented in lti::directedPerceptionPTU, and lti::sonyEviD100P.

virtual float lti::panTiltUnit::getTilt ( ) const [pure virtual]

Returns:: the current tilt position

Implemented in lti::directedPerceptionPTU, and lti::sonyEviD100P.

virtual const char* lti::panTiltUnit::getTypeName ( ) const [virtual]

returns the name of this type ("panTiltUnit")

Reimplemented from lti::functor.

Reimplemented in lti::directedPerceptionPTU, and lti::sonyEviD100P.

panTiltUnit& lti::panTiltUnit::operator= ( const panTiltUnit & other )

alias for copy member

Parameters:

other

the functor to be copied

Returns:: a reference to this functor object

Reimplemented from lti::functor.

Reimplemented in lti::directedPerceptionPTU, and lti::sonyEviD100P.

virtual bool lti::panTiltUnit::reset ( ) [pure virtual]

Reset the pan tilt device.

This method resets internal pan and tilt registers. Some devices need resets from time to time to avoid accumulation errors. After succesfull execution the pan tilt unit should be in the same position as before the call. During execution the pan tilt unit may move.