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| ArSonyPTZ (ArRobot *robot) |
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bool | backLightingOff (void) |
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bool | backLightingOn (void) |
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virtual bool | canGetFOV (void) |
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virtual bool | canZoom (void) const |
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virtual double | getFOVAtMaxZoom (void) |
| | Gets the field of view at maximum zoom.
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virtual double | getFOVAtMinZoom (void) |
| | Gets the field of view at minimum zoom.
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virtual const char * | getTypeName () |
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virtual int | getZoom (void) const |
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virtual bool | init (void) |
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virtual bool | zoom (int zoomValue) |
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virtual bool | zoomRel (int zoomValue) |
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| | ArPTZ (ArRobot *robot) |
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virtual bool | canGetRealPanTilt (void) const |
| | Whether getPan() hand getTilt() return the device's real position, or last commanded position.
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virtual bool | canGetRealZoom (void) const |
| | Whether getZoom() returns the device's real zoom amount, or last commanded zoom position.
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virtual bool | canPanTiltSlew () |
| | Can pan and tilt speed (slew rates) be set to move device?
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virtual bool | canSetFocus (void) const |
| | If the driver can set the focus on the camera, or not.
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virtual bool | canSetGain (void) const |
| | If the driver can set gain on the camera, or not.
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virtual void | connectHandler (void) |
| | Internal, attached to robot, inits the camera when robot connects.
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virtual int | getAuxPort (void) |
| | Gets the port the device is set to communicate on.
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virtual ArDeviceConnection * | getDeviceConnection (void) |
| | Gets the device connection used by this PTZ camera.
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virtual double | getFocus (double focus) const |
| | Get the focus the camera is set to. 0 if not supported.
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virtual double | getGain (double gain) const |
| | Get the gain the camera is set to. 0 if not supported.
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bool | getInverted () |
| | Get whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed.
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virtual double | getMaxNegPan (void) const |
| | Gets the lowest negative degree the camera can pan to (inverted if camera is inverted)
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virtual double | getMaxNegTilt (void) const |
| | Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted)
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| double | getMaxPan () const |
| | Gets the highest positive degree the camera can pan to (inverted if camera is inverted) More...
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virtual double | getMaxPosPan (void) const |
| | Gets the highest positive degree the camera can pan to (inverted if camera is inverted)
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virtual double | getMaxPosTilt (void) const |
| | Gets the highest positive degree the camera can tilt to (inverted if camera is inverted)
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| double | getMaxTilt () const |
| | Gets the highest positive degree the camera can tilt to (inverted if camera is inverted) More...
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virtual int | getMaxZoom (void) const |
| | Gets the maximum value for the zoom on this camera.
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| double | getMinPan () const |
| | Gets the lowest negative degree the camera can pan to (inverted if camera is inverted) More...
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| double | getMinTilt () const |
| | Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted) More...
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virtual int | getMinZoom (void) const |
| | Gets the lowest value for the zoom on this camera.
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| 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...
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ArRobot * | getRobot () |
| | Return ArRobot object this PTZ is associated with. May be NULL.
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| 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...
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virtual bool | haltPanTilt () |
| | Halt any pan/tilt movement, if device supports it.
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virtual bool | haltZoom () |
| | Halt any zoom movement, if device supports that.
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| virtual bool | packetHandler (ArBasePacket *packet) |
| | Handles a packet that was read from the device. More...
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virtual bool | pan (double degrees) |
| | Pans to the given degrees. 0 is straight ahead, - is to the left, + to the right.
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virtual bool | panRel (double degrees) |
| | Pans relative to current position by given degrees.
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virtual bool | panSlew (double s) |
| | Set pan slew rate (speed) (degrees/sec) if device supports it (see canPanTiltSlew())
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virtual bool | panTilt (double degreesPan, double degreesTilt) |
| | Pans and tilts to the given degrees.
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virtual bool | panTiltRel (double degreesPan, double degreesTilt) |
| | Pans and tilts relatives to the current position by the given degrees.
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| virtual ArBasePacket * | readPacket (void) |
| | Reads a packet from the device connection, MUST NOT BLOCK. More...
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| virtual void | reset (void) |
| | Resets the camera. More...
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| virtual bool | robotPacketHandler (ArRobotPacket *packet) |
| | Handles a packet that was read by the robot. More...
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| virtual bool | sendPacket (ArBasePacket *packet) |
| | Sends a given packet to the camera (via robot or serial port, depending) More...
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virtual void | sensorInterpHandler (void) |
| | Internal, for attaching to the robots sensor interp to read serial port.
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| virtual bool | setAuxPort (int auxPort) |
| | Sets the aux port on the robot to be used to communicate with this device. More...
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| 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...
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| virtual bool | setFocus (double focus) const |
| | Set focus on camera, range of 1-100. More...
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| virtual bool | setGain (double gain) const |
| | Set gain on camera, range of 1-100. More...
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void | setInverted (bool inv) |
| | Set whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed.
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virtual bool | tilt (double degrees) |
| | Tilts to the given degrees. 0 is middle, - is downward, + is upwards.
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virtual bool | tiltRel (double degrees) |
| | Tilts relative to the current position by given degrees.
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virtual bool | tiltSlew (double s) |
| | Set tilt slew rate (speed) (degrees/sec) if device supports it (see canPanTiltSlew())
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virtual | ~ArPTZ () |
| | Destructor.
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virtual double | getPan_i (void) const |
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virtual double | getTilt_i (void) const |
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void | initializePackets (void) |
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virtual bool | pan_i (double degrees) |
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virtual bool | panRel_i (double degrees) |
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virtual bool | panTilt_i (double degreesPan, double degreesTilt) |
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virtual bool | panTiltRel_i (double degreesPan, double degreesTilt) |
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virtual bool | tilt_i (double degrees) |
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virtual bool | tiltRel_i (double degrees) |
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| 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...
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| 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...
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double | getMaxPan_i () const |
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virtual double | getMaxPosTilt_i (void) const |
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double | getMinPan_i () const |
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virtual double | getMaxNegPan_i (void) const |
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double | getMaxTilt_i () const |
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virtual double | getMaxNegTilt_i (void) const |
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double | getMinTilt_i () const |
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A class to use the sony pan tilt zoom unit.
Public Member Functions inherited from ArPTZ