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<div class="title">CPtuBase.h</div> </div>
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<a href="_c_ptu_base_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CPtuBase_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CPtuBase_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_serial_port_8h.html">mrpt/hwdrivers/CSerialPort.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">namespace </span>hwdrivers
<a name="l00037"></a>00037 {<span class="comment"></span>
<a name="l00038"></a>00038 <span class="comment"> /** This class implements initialization and comunication methods to</span>
<a name="l00039"></a>00039 <span class="comment"> * control a generic Pan and Tilt Unit, working in radians.</span>
<a name="l00040"></a>00040 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00041"></a>00041 <span class="comment"> */</span>
<a name="l00042"></a>00042 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CPtuBase
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">/*************************** Atributes **********************/</span>
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="keyword">public</span>:
<a name="l00048"></a>00048
<a name="l00049"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a703ca960a9e709f3f64d8f5feb5f5fcd">00049</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a703ca960a9e709f3f64d8f5feb5f5fcd">tiltResolution</a>,panResolution;
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="keyword">protected</span>:
<a name="l00052"></a>00052
<a name="l00053"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a2c91aac0211b4192cd7bba1e2c0d5834">00053</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a2c91aac0211b4192cd7bba1e2c0d5834">serPort</a>;
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="comment">/**************************** Methods ***********************/</span>
<a name="l00056"></a>00056
<a name="l00057"></a>00057 <span class="keyword">public</span>:
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment"> /** Destructor */</span>
<a name="l00060"></a>00060
<a name="l00061"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a37d94930ad00fc1b798afbe7ea25dcb2">00061</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a37d94930ad00fc1b798afbe7ea25dcb2" title="Destructor.">~CPtuBase</a>() {};
<a name="l00062"></a>00062 <span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment"> /** Search limit forward */</span>
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> rangeMeasure()=0;
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** Specification of positions in absolute terms */</span>
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> moveToAbsPos(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> nRad)=0;
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment"> /** Query position in absolute terms */</span>
<a name="l00072"></a>00072
<a name="l00073"></a>00073 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> absPosQ(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> &nRad)=0;
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Specify desired axis position as an offset from the current position. \n</span>
<a name="l00076"></a>00076 <span class="comment"> * This method recives the number of radians to move.</span>
<a name="l00077"></a>00077 <span class="comment"> * \code</span>
<a name="l00078"></a>00078 <span class="comment"> * Example of use:</span>
<a name="l00079"></a>00079 <span class="comment"> * TT-500 *</span>
<a name="l00080"></a>00080 <span class="comment"> * A *</span>
<a name="l00081"></a>00081 <span class="comment"> * TO * Current Tilt position is -500</span>
<a name="l00082"></a>00082 <span class="comment"> * TO500 *</span>
<a name="l00083"></a>00083 <span class="comment"> * A *</span>
<a name="l00084"></a>00084 <span class="comment"> * TT * Current Pan position is 1000 </span>
<a name="l00085"></a>00085 <span class="comment"> * \endcode</span>
<a name="l00086"></a>00086 <span class="comment"> */</span>
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> moveToOffPos(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> nRad)=0;
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Query position in relative terms */</span>
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> offPosQ(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> &nRad)=0;
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** Query max movement limit of a axis in absolute terms */</span>
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> maxPosQ(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> &nRad)=0;
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** Query min movement limit of a axis in absolute terms */</span>
<a name="l00099"></a>00099
<a name="l00100"></a>00100 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> minPosQ(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> &nRad)=0;
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** Query if exist movement limits */</span>
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> enableLimitsQ(<span class="keywordtype">bool</span> &enable)=0; <span class="comment">// Query if exist some limit</span>
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** Enable/Disable movement limits */</span>
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> enableLimits(<span class="keywordtype">bool</span> <span class="keyword">set</span>)=0;
<a name="l00109"></a>00109 <span class="comment"></span>
<a name="l00110"></a>00110 <span class="comment"> /** With I mode (default) instructs pan-tilt unit to immediately</span>
<a name="l00111"></a>00111 <span class="comment"> * execute positional commands. \n</span>
<a name="l00112"></a>00112 <span class="comment"> * In S mode instructs pan-tilt unit to execute positional commands</span>
<a name="l00113"></a>00113 <span class="comment"> * only when an Await Position Command Completion command is executed</span>
<a name="l00114"></a>00114 <span class="comment"> * or when put into Immediate Execution Mode. \n</span>
<a name="l00115"></a>00115 <span class="comment"> * \code</span>
<a name="l00116"></a>00116 <span class="comment"> * Example of use of S mode:</span>
<a name="l00117"></a>00117 <span class="comment"> * DR *</span>
<a name="l00118"></a>00118 <span class="comment"> * S *</span>
<a name="l00119"></a>00119 <span class="comment"> * PP1500 *</span>
<a name="l00120"></a>00120 <span class="comment"> * TP-900 *</span>
<a name="l00121"></a>00121 <span class="comment"> * PP * Current Pan position is 0</span>
<a name="l00122"></a>00122 <span class="comment"> * TP * Current Tilt position is 0</span>
<a name="l00123"></a>00123 <span class="comment"> * A *</span>
<a name="l00124"></a>00124 <span class="comment"> * PP * Current Pan position is 1500</span>
<a name="l00125"></a>00125 <span class="comment"> * TP * Current Tilt position is -900</span>
<a name="l00126"></a>00126 <span class="comment"> * \endcode</span>
<a name="l00127"></a>00127 <span class="comment"> */</span>
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> inmediateExecution(<span class="keywordtype">bool</span> <span class="keyword">set</span>)=0;
<a name="l00130"></a>00130 <span class="comment"></span>
<a name="l00131"></a>00131 <span class="comment"> /** Wait the finish of the last position command to</span>
<a name="l00132"></a>00132 <span class="comment"> * continue accept commands</span>
<a name="l00133"></a>00133 <span class="comment"> */</span>
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> aWait(<span class="keywordtype">void</span>)=0;
<a name="l00136"></a>00136 <span class="comment"></span>
<a name="l00137"></a>00137 <span class="comment"> /** Inmediately stop all */</span>
<a name="l00138"></a>00138
<a name="l00139"></a>00139 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> haltAll()=0;
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** Inmediately stop */</span>
<a name="l00142"></a>00142
<a name="l00143"></a>00143 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> halt(<span class="keywordtype">char</span> axis)=0;
<a name="l00144"></a>00144 <span class="comment"></span>
<a name="l00145"></a>00145 <span class="comment"> /** Specification of turn speed */</span>
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> speed(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> RadSec)=0;
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> /** Query turn speed */</span>
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> speedQ(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> &RadSec)=0;
<a name="l00152"></a>00152 <span class="comment"></span>
<a name="l00153"></a>00153 <span class="comment"> /** Specification (de/a)celeration in turn */</span>
<a name="l00154"></a>00154
<a name="l00155"></a>00155 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> aceleration(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> RadSec2)=0;
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment"> /** Query (de/a)celeration in turn */</span>
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> acelerationQ(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> &RadSec2)=0;
<a name="l00160"></a>00160 <span class="comment"></span>
<a name="l00161"></a>00161 <span class="comment"> /** Specification of velocity to which start and finish</span>
<a name="l00162"></a>00162 <span class="comment"> * the (de/a)celeration</span>
<a name="l00163"></a>00163 <span class="comment"> */</span>
<a name="l00164"></a>00164
<a name="l00165"></a>00165 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> baseSpeed(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> RadSec)=0;
<a name="l00166"></a>00166 <span class="comment"></span>
<a name="l00167"></a>00167 <span class="comment"> /** Query velocity to which start and finish</span>
<a name="l00168"></a>00168 <span class="comment"> * the (de/a)celeration</span>
<a name="l00169"></a>00169 <span class="comment"> */</span>
<a name="l00170"></a>00170
<a name="l00171"></a>00171 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> baseSpeedQ(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> &RadSec)=0;
<a name="l00172"></a>00172 <span class="comment"></span>
<a name="l00173"></a>00173 <span class="comment"> /** Specification of velocity upper limit */</span>
<a name="l00174"></a>00174
<a name="l00175"></a>00175 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> upperSpeed(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> RadSec)=0;
<a name="l00176"></a>00176 <span class="comment"></span>
<a name="l00177"></a>00177 <span class="comment"> /** Query velocity upper limit */</span>
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> upperSpeedQ(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> &RadSec)=0;
<a name="l00180"></a>00180 <span class="comment"></span>
<a name="l00181"></a>00181 <span class="comment"> /** Specification of velocity lower limit */</span>
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> lowerSpeed(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> RadSec)=0;
<a name="l00184"></a>00184 <span class="comment"></span>
<a name="l00185"></a>00185 <span class="comment"> /** Query velocity lower limit */</span>
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> lowerSpeedQ(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> &RadSec)=0;
<a name="l00188"></a>00188 <span class="comment"></span>
<a name="l00189"></a>00189 <span class="comment"> /** Reset PTU to initial state */</span>
<a name="l00190"></a>00190
<a name="l00191"></a>00191 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> reset(<span class="keywordtype">void</span>)=0;
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment"> /** Save or restart default values */</span>
<a name="l00194"></a>00194
<a name="l00195"></a>00195 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> save(<span class="keywordtype">void</span>)=0;
<a name="l00196"></a>00196 <span class="comment"></span>
<a name="l00197"></a>00197 <span class="comment"> /** Restore default values */</span>
<a name="l00198"></a>00198
<a name="l00199"></a>00199 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> restoreDefaults(<span class="keywordtype">void</span>)=0;
<a name="l00200"></a>00200 <span class="comment"></span>
<a name="l00201"></a>00201 <span class="comment"> /** Restore factory default values */</span>
<a name="l00202"></a>00202
<a name="l00203"></a>00203 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> restoreFactoryDefaults(<span class="keywordtype">void</span>)=0;
<a name="l00204"></a>00204 <span class="comment"></span>
<a name="l00205"></a>00205 <span class="comment"> /** Version and CopyRights */</span>
<a name="l00206"></a>00206
<a name="l00207"></a>00207 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> version(<span class="keywordtype">char</span> * nVersion)=0;
<a name="l00208"></a>00208 <span class="comment"></span>
<a name="l00209"></a>00209 <span class="comment"> /** Number of version */</span>
<a name="l00210"></a>00210
<a name="l00211"></a>00211 <span class="keyword">virtual</span> <span class="keywordtype">void</span> nversion(<span class="keywordtype">double</span> &nVersion)=0;
<a name="l00212"></a>00212 <span class="comment"></span>
<a name="l00213"></a>00213 <span class="comment"> /** Query power mode */</span>
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> powerModeQ(<span class="keywordtype">bool</span> transit,<span class="keywordtype">char</span> &mode)=0;
<a name="l00216"></a>00216 <span class="comment"></span>
<a name="l00217"></a>00217 <span class="comment"> /** Specification of power mode */</span>
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> powerMode(<span class="keywordtype">bool</span> transit,<span class="keywordtype">char</span> mode)=0;
<a name="l00220"></a>00220 <span class="comment"></span>
<a name="l00221"></a>00221 <span class="comment"> /** Check if ptu is moving */</span>
<a name="l00222"></a>00222
<a name="l00223"></a>00223 <span class="keyword">virtual</span> <span class="keywordtype">double</span> status(<span class="keywordtype">double</span> &rad)=0;
<a name="l00224"></a>00224 <span class="comment"></span>
<a name="l00225"></a>00225 <span class="comment"> /** Set limits of movement */</span>
<a name="l00226"></a>00226
<a name="l00227"></a>00227 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> setLimits(<span class="keywordtype">char</span> axis, <span class="keywordtype">double</span> &l, <span class="keywordtype">double</span> &u)=0;
<a name="l00228"></a>00228
<a name="l00229"></a>00229 <span class="comment">/* Change motion direction */</span>
<a name="l00230"></a>00230
<a name="l00231"></a>00231 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> changeMotionDir()=0;
<a name="l00232"></a>00232
<a name="l00233"></a>00233
<a name="l00234"></a>00234 <span class="comment">/**************************** State Queries ********************/</span>
<a name="l00235"></a>00235 <span class="comment"></span>
<a name="l00236"></a>00236 <span class="comment"> /** Check errors, returns 0 if there are not errors or error code otherwise **/</span>
<a name="l00237"></a>00237
<a name="l00238"></a>00238 <span class="keyword">virtual</span> <span class="keywordtype">int</span> checkErrors()=0;
<a name="l00239"></a>00239 <span class="comment"></span>
<a name="l00240"></a>00240 <span class="comment"> /** Clear errors **/</span>
<a name="l00241"></a>00241
<a name="l00242"></a>00242 <span class="keyword">virtual</span> <span class="keywordtype">void</span> clearErrors()=0;
<a name="l00243"></a>00243
<a name="l00244"></a>00244
<a name="l00245"></a>00245 <span class="comment">/*************************** Other member methods *****************/</span>
<a name="l00246"></a>00246 <span class="comment"></span>
<a name="l00247"></a>00247 <span class="comment"> /** PTU and serial port initialization */</span>
<a name="l00248"></a>00248
<a name="l00249"></a>00249 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> init(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> port)=0;
<a name="l00250"></a>00250 <span class="comment"></span>
<a name="l00251"></a>00251 <span class="comment"> /** Close conection with serial port */</span>
<a name="l00252"></a>00252
<a name="l00253"></a>00253 <span class="keyword">virtual</span> <span class="keywordtype">void</span> close()=0;
<a name="l00254"></a>00254 <span class="comment"></span>
<a name="l00255"></a>00255 <span class="comment"> /** To obtains the mistake for use discrete values when the movement</span>
<a name="l00256"></a>00256 <span class="comment"> * is expressed in radians. Parameters are the absolute position in</span>
<a name="l00257"></a>00257 <span class="comment"> * radians and the axis desired</span>
<a name="l00258"></a>00258 <span class="comment"> */</span>
<a name="l00259"></a>00259
<a name="l00260"></a>00260 <span class="keyword">virtual</span> <span class="keywordtype">double</span> radError(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> nRadMoved)=0;
<a name="l00261"></a>00261 <span class="comment"></span>
<a name="l00262"></a>00262 <span class="comment"> /** To obtain the discrete value for a number of radians */</span>
<a name="l00263"></a>00263
<a name="l00264"></a>00264 <span class="keyword">virtual</span> <span class="keywordtype">long</span> radToPos(<span class="keywordtype">char</span> axis,<span class="keywordtype">double</span> nRad)=0;
<a name="l00265"></a>00265 <span class="comment"></span>
<a name="l00266"></a>00266 <span class="comment"> /** To obtain the number of radians for a discrete value */</span>
<a name="l00267"></a>00267
<a name="l00268"></a>00268 <span class="keyword">virtual</span> <span class="keywordtype">double</span> posToRad(<span class="keywordtype">char</span> axis,<span class="keywordtype">long</span> nPos)=0;
<a name="l00269"></a>00269 <span class="comment"></span>
<a name="l00270"></a>00270 <span class="comment"> /** Performs a scan in the axis indicated and whit the precision desired.</span>
<a name="l00271"></a>00271 <span class="comment"> * \param <axis> {Pan or Till}</span>
<a name="l00272"></a>00272 <span class="comment"> * \param <tWait> {Wait time betwen commands} </span>
<a name="l00273"></a>00273 <span class="comment"> * \param <initial> {initial position}</span>
<a name="l00274"></a>00274 <span class="comment"> * \param <final> {final position}</span>
<a name="l00275"></a>00275 <span class="comment"> * \param <RadPre> {radians precision for the scan}</span>
<a name="l00276"></a>00276 <span class="comment"> */</span>
<a name="l00277"></a>00277
<a name="l00278"></a>00278 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> scan(<span class="keywordtype">char</span> axis, <span class="keywordtype">int</span> wait, <span class="keywordtype">float</span> initial, <span class="keywordtype">float</span> <span class="keyword">final</span>, <span class="keywordtype">double</span> RadPre)=0;
<a name="l00279"></a>00279 <span class="comment"></span>
<a name="l00280"></a>00280 <span class="comment"> /** Query verbose mode */</span>
<a name="l00281"></a>00281
<a name="l00282"></a>00282 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> verboseQ(<span class="keywordtype">bool</span> &modo)=0;
<a name="l00283"></a>00283 <span class="comment"></span>
<a name="l00284"></a>00284 <span class="comment"> /** Set verbose. \n</span>
<a name="l00285"></a>00285 <span class="comment"> * \conde</span>
<a name="l00286"></a>00286 <span class="comment"> * Example of response with FV (verbose) active:</span>
<a name="l00287"></a>00287 <span class="comment"> * FV *</span>
<a name="l00288"></a>00288 <span class="comment"> * PP * Current pan position is 0</span>
<a name="l00289"></a>00289 <span class="comment"> * Example of response with FT (terse) active:</span>
<a name="l00290"></a>00290 <span class="comment"> * FT *</span>
<a name="l00291"></a>00291 <span class="comment"> * PP * 0</span>
<a name="l00292"></a>00292 <span class="comment"> * \endcode</span>
<a name="l00293"></a>00293 <span class="comment"> */</span>
<a name="l00294"></a>00294
<a name="l00295"></a>00295 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> verbose(<span class="keywordtype">bool</span> <span class="keyword">set</span>)=0;
<a name="l00296"></a>00296 <span class="comment"></span>
<a name="l00297"></a>00297 <span class="comment"> /** Query echo mode */</span>
<a name="l00298"></a>00298
<a name="l00299"></a>00299 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> echoModeQ(<span class="keywordtype">bool</span> &mode)=0;
<a name="l00300"></a>00300 <span class="comment"></span>
<a name="l00301"></a>00301 <span class="comment"> /** Enable/Disable echo response with command. \n</span>
<a name="l00302"></a>00302 <span class="comment"> * \code</span>
<a name="l00303"></a>00303 <span class="comment"> * Example of use (EE supposed):</span>
<a name="l00304"></a>00304 <span class="comment"> * PP * 22</span>
<a name="l00305"></a>00305 <span class="comment"> * ED *</span>
<a name="l00306"></a>00306 <span class="comment"> * <pp entered again, but not echoed>* 22</span>
<a name="l00307"></a>00307 <span class="comment"> * \endcode</span>
<a name="l00308"></a>00308 <span class="comment"> */</span>
<a name="l00309"></a>00309
<a name="l00310"></a>00310 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> echoMode(<span class="keywordtype">bool</span> mode)=0;
<a name="l00311"></a>00311 <span class="comment"></span>
<a name="l00312"></a>00312 <span class="comment"> /** Query the pan and tilt resolution per position moved</span>
<a name="l00313"></a>00313 <span class="comment"> * and initialize local atributes</span>
<a name="l00314"></a>00314 <span class="comment"> */</span>
<a name="l00315"></a>00315
<a name="l00316"></a>00316 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> resolution(<span class="keywordtype">void</span>)=0;
<a name="l00317"></a>00317
<a name="l00318"></a>00318
<a name="l00319"></a>00319 <span class="comment">/*************************** Methods for internal use ****************/</span>
<a name="l00320"></a>00320
<a name="l00321"></a>00321 <span class="keyword">private</span>:
<a name="l00322"></a>00322 <span class="comment"></span>
<a name="l00323"></a>00323 <span class="comment"> /** To transmition commands to the PTU */</span>
<a name="l00324"></a>00324
<a name="l00325"></a>00325 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> transmit(<span class="keyword">const</span> <span class="keywordtype">char</span> * command)=0;
<a name="l00326"></a>00326 <span class="comment"></span>
<a name="l00327"></a>00327 <span class="comment"> /** To receive the responseof the PTU */</span>
<a name="l00328"></a>00328
<a name="l00329"></a>00329 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> receive(<span class="keyword">const</span> <span class="keywordtype">char</span> * command,<span class="keywordtype">char</span> * response)=0;
<a name="l00330"></a>00330 <span class="comment"></span>
<a name="l00331"></a>00331 <span class="comment"> /** Used to obtains a number of radians */</span>
<a name="l00332"></a>00332
<a name="l00333"></a>00333 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> radQuerry(<span class="keywordtype">char</span> axis,<span class="keywordtype">char</span> command,<span class="keywordtype">double</span> &nRad)=0;
<a name="l00334"></a>00334 <span class="comment"></span>
<a name="l00335"></a>00335 <span class="comment"> /** Method used for asign a number of radians with a command */</span>
<a name="l00336"></a>00336
<a name="l00337"></a>00337 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> radAsign(<span class="keywordtype">char</span> axis,<span class="keywordtype">char</span> command,<span class="keywordtype">double</span> nRad)=0;
<a name="l00338"></a>00338
<a name="l00339"></a>00339
<a name="l00340"></a>00340 }; <span class="comment">// End of class</span>
<a name="l00341"></a>00341
<a name="l00342"></a>00342 } <span class="comment">// End of namespace</span>
<a name="l00343"></a>00343
<a name="l00344"></a>00344 } <span class="comment">// End of namespace</span>
<a name="l00345"></a>00345
<a name="l00346"></a>00346 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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