ArRVisionPTZ Class Reference

Control the RVision camera pan tilt zoom unit. More...

#include <ArRVisionPTZ.h>

Inherits ArPTZ.

Public Types
enum	{   MAX_PAN = 180, MIN_PAN = -180, MIN_TILT = -30, MAX_TILT = 60,   MIN_ZOOM = 0, MAX_ZOOM = 32767, TILT_OFFSET_IN_DEGREES = 38, PAN_OFFSET_IN_DEGREES = 190 }

Public Member Functions
	ArRVisionPTZ (ArRobot *robot)
virtual bool	canGetFOV (void)
virtual bool	canGetRealPanTilt (void) const
virtual bool	canGetRealZoom (void) const
virtual bool	canZoom (void) const
virtual double	getFOVAtMaxZoom (void)
	Gets the field of view at maximum zoom.
virtual double	getFOVAtMinZoom (void)
	Gets the field of view at minimum zoom.
virtual const char *	getTypeName ()
virtual int	getZoom (void) const
virtual bool	init (void)
virtual ArBasePacket *	readPacket (void)
void	setPort (const char *port)
	Set serial port. More...
virtual bool	zoom (int zoomValue)
virtual bool	zoomRel (int zoomValue)
Public Member Functions inherited from ArPTZ
	ArPTZ (ArRobot *robot)
virtual bool	canPanTiltSlew ()
	Can pan and tilt speed (slew rates) be set to move device?
virtual bool	canSetFocus (void) const
	If the driver can set the focus on the camera, or not.
virtual bool	canSetGain (void) const
	If the driver can set gain on the camera, or not.
virtual void	connectHandler (void)
	Internal, attached to robot, inits the camera when robot connects.
virtual int	getAuxPort (void)
	Gets the port the device is set to communicate on.
virtual ArDeviceConnection *	getDeviceConnection (void)
	Gets the device connection used by this PTZ camera.
virtual double	getFocus (double focus) const
	Get the focus the camera is set to. 0 if not supported.
virtual double	getGain (double gain) const
	Get the gain the camera is set to. 0 if not supported.
bool	getInverted ()
	Get whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed.
virtual double	getMaxNegPan (void) const
	Gets the lowest negative degree the camera can pan to (inverted if camera is inverted)
virtual double	getMaxNegTilt (void) const
	Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted)
double	getMaxPan () const
	Gets the highest positive degree the camera can pan to (inverted if camera is inverted) More...
virtual double	getMaxPosPan (void) const
	Gets the highest positive degree the camera can pan to (inverted if camera is inverted)
virtual double	getMaxPosTilt (void) const
	Gets the highest positive degree the camera can tilt to (inverted if camera is inverted)
double	getMaxTilt () const
	Gets the highest positive degree the camera can tilt to (inverted if camera is inverted) More...
virtual int	getMaxZoom (void) const
	Gets the maximum value for the zoom on this camera.
double	getMinPan () const
	Gets the lowest negative degree the camera can pan to (inverted if camera is inverted) More...
double	getMinTilt () const
	Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted) More...
virtual int	getMinZoom (void) const
	Gets the lowest value for the zoom on this camera.
virtual double	getPan (void) const
	The angle the camera is panned to (or last commanded value sent, if unable to obtain real pan position) More...
ArRobot *	getRobot ()
	Return ArRobot object this PTZ is associated with. May be NULL.
virtual double	getTilt (void) const
	The angle the camera is tilted to (or last commanded value sent, if unable to obtain real pan position) More...
virtual bool	haltPanTilt ()
	Halt any pan/tilt movement, if device supports it.
virtual bool	haltZoom ()
	Halt any zoom movement, if device supports that.
virtual bool	packetHandler (ArBasePacket *packet)
	Handles a packet that was read from the device. More...
virtual bool	pan (double degrees)
	Pans to the given degrees. 0 is straight ahead, - is to the left, + to the right.
virtual bool	panRel (double degrees)
	Pans relative to current position by given degrees.
virtual bool	panSlew (double s)
	Set pan slew rate (speed) (degrees/sec) if device supports it (see canPanTiltSlew())
virtual bool	panTilt (double degreesPan, double degreesTilt)
	Pans and tilts to the given degrees.
virtual bool	panTiltRel (double degreesPan, double degreesTilt)
	Pans and tilts relatives to the current position by the given degrees.
virtual void	reset (void)
	Resets the camera. More...
virtual bool	robotPacketHandler (ArRobotPacket *packet)
	Handles a packet that was read by the robot. More...
virtual bool	sendPacket (ArBasePacket *packet)
	Sends a given packet to the camera (via robot or serial port, depending) More...
virtual void	sensorInterpHandler (void)
	Internal, for attaching to the robots sensor interp to read serial port.
virtual bool	setAuxPort (int auxPort)
	Sets the aux port on the robot to be used to communicate with this device. More...
virtual bool	setDeviceConnection (ArDeviceConnection *connection, bool driveFromRobotLoop=true)
	Sets the device connection to be used by this PTZ camera, if set this camera will send commands via this connection, otherwise its via robot aux. More...
virtual bool	setFocus (double focus) const
	Set focus on camera, range of 1-100. More...
virtual bool	setGain (double gain) const
	Set gain on camera, range of 1-100. More...
void	setInverted (bool inv)
	Set whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed.
virtual bool	tilt (double degrees)
	Tilts to the given degrees. 0 is middle, - is downward, + is upwards.
virtual bool	tiltRel (double degrees)
	Tilts relative to the current position by given degrees.
virtual bool	tiltSlew (double s)
	Set tilt slew rate (speed) (degrees/sec) if device supports it (see canPanTiltSlew())
virtual	~ArPTZ ()
	Destructor.

Static Public Member Functions
static void	registerPTZType ()
	called automatically by Aria::init() More...

Protected Member Functions
virtual double	getPan_i (void) const
virtual double	getTilt_i (void) const
void	initializePackets (void)
virtual bool	pan_i (double degrees)
virtual bool	panRel_i (double degrees)
virtual bool	panTilt_i (double degreesPan, double degreesTilt)
virtual bool	panTiltRel_i (double degreesPan, double degreesTilt)
virtual bool	tilt_i (double degrees)
virtual bool	tiltRel_i (double degrees)
Protected Member Functions inherited from ArPTZ
void	setLimits (double maxPosPan, double maxNegPan, double maxPosTilt, double maxNegTilt, int maxZoom=0, int minZoom=0)
	Subclasses call this to set extents (limits) returned by getMaxPosPan(), getMaxNegPan(), getMaxPosTilt(), getMaxNegTilt(), getMaxZoom(), and getMinZoom(). More...
virtual double	getMaxPosPan_i (void) const
	Versions of the pan and tilt limit accessors where inversion is not applied, for use by subclasses to check when given pan/tilt commands. More...
double	getMaxPan_i () const
virtual double	getMaxPosTilt_i (void) const
double	getMinPan_i () const
virtual double	getMaxNegPan_i (void) const
double	getMaxTilt_i () const
virtual double	getMaxNegTilt_i (void) const
double	getMinTilt_i () const

Static Protected Member Functions
static ArPTZ *	create (size_t index, ArPTZParams params, ArArgumentParser *parser, ArRobot *robot)

Protected Attributes
double	myDegToPan
double	myDegToTilt
ArRVisionPacket	myInquiryPacket
ArRVisionPacket	myPacket
double	myPan
double	myPanOffsetInDegrees
ArRVisionPacket	myPanTiltPacket
const char *	mySerialPort
double	myTilt
double	myTiltOffsetInDegrees
int	myZoom
ArRVisionPacket	myZoomPacket
Protected Attributes inherited from ArPTZ
int	myAuxPort
ArCommands::Commands	myAuxRxCmd
ArCommands::Commands	myAuxTxCmd
ArDeviceConnection *	myConn
ArFunctorC< ArPTZ >	myConnectCB
bool	myInverted
double	myMaxNegPan
double	myMaxNegTilt
double	myMaxPosPan
double	myMaxPosTilt
int	myMaxZoom
int	myMinZoom
ArRobot *	myRobot
ArRetFunctor1C< bool, ArPTZ, ArRobotPacket * >	myRobotPacketHandlerCB
ArFunctorC< ArPTZ >	mySensorInterpCB

Static Protected Attributes
static ArPTZConnector::GlobalPTZCreateFunc	ourCreateFunc

Detailed Description

Control the RVision camera pan tilt zoom unit.

In addition to creating an ArRvisionPTZ instance, you will also need to create an ArSerialConnection object and open the serial port connection (the RVision is normally on COM3 on Seekur and Seekur Jr. robots) and use the setDeviceConnection() method to associate the serial connection with the ArRVisionPTZ object.

Since

2.7.0

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
MAX_PAN	maximum degrees the unit can pan (clockwise from top)
MIN_PAN	minimum degrees the unit can pan (counterclockwise from top)
MIN_TILT	minimum degrees the unit can tilt
MAX_TILT	maximum degrees the unit can tilt
MIN_ZOOM	minimum value for zoom
MAX_ZOOM	maximum value for zoom
TILT_OFFSET_IN_DEGREES	offset value to convert internal camera coords to world
PAN_OFFSET_IN_DEGREES	offset value to convert internal camera coords to world

Member Function Documentation

create()

ArPTZ * ArRVisionPTZ::create ( size_t  index, ArPTZParams  params, ArArgumentParser *  parser, ArRobot *  robot  )

staticprotected

Since

2.7.6

registerPTZType()

void ArRVisionPTZ::registerPTZType ( )

static

called automatically by Aria::init()

Since

2.7.6

setPort()

void ArRVisionPTZ::setPort ( const char *  port )

inline

Set serial port.

Since

2.7.6

Member Data Documentation

ourCreateFunc

ArPTZConnector::GlobalPTZCreateFunc ArRVisionPTZ::ourCreateFunc

staticprotected

Since

2.7.6

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The documentation for this class was generated from the following files:

• ArRVisionPTZ.h
• ArRVisionPTZ.cpp