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<div class="title">mrpt::hwdrivers::CPtuBase Class Reference<div class="ingroups"><a class="el" href="group__mrpt__hwdrivers__grp.html">[mrpt-hwdrivers]</a></div></div> </div>
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<!-- doxytag: class="mrpt::hwdrivers::CPtuBase" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class implements initialization and comunication methods to control a generic Pan and Tilt Unit, working in radians. </p>
</div>
<p><code>#include <<a class="el" href="_c_ptu_base_8h_source.html">mrpt/hwdrivers/CPtuBase.h</a>></code></p>
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Inheritance diagram for mrpt::hwdrivers::CPtuBase:</div>
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<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_ptu_base__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_ptu_base_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_ptu_base_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_ptu_base_inherit__map">
<area shape="rect" id="node3" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html" title="This class implements initialization and comunication methods to control a Pan and Tilt Unit model PT..." alt="" coords="5,80,227,107"/><area shape="rect" id="node5" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html" title="This class implements initialization and comunication methods to control a Tilt Unit model DT-80..." alt="" coords="251,80,431,107"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hwdrivers_1_1_c_ptu_base-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a37d94930ad00fc1b798afbe7ea25dcb2">~CPtuBase</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a37d94930ad00fc1b798afbe7ea25dcb2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a7f8908698d38d41007625ea299d02c3f">rangeMeasure</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Search limit forward. <a href="#a7f8908698d38d41007625ea299d02c3f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a34b6428bbf36b6607d923af8a8e0b080">moveToAbsPos</a> (char axis, double nRad)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of positions in absolute terms. <a href="#a34b6428bbf36b6607d923af8a8e0b080"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a4a83a6de6e0ecb776b01c902ace23f0d">absPosQ</a> (char axis, double &nRad)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query position in absolute terms. <a href="#a4a83a6de6e0ecb776b01c902ace23f0d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a47aa12f1259ce7109da1ba58a6dd7412">moveToOffPos</a> (char axis, double nRad)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specify desired axis position as an offset from the current position. <a href="#a47aa12f1259ce7109da1ba58a6dd7412"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a675c7a250848401469a145ca2aadf348">offPosQ</a> (char axis, double &nRad)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query position in relative terms. <a href="#a675c7a250848401469a145ca2aadf348"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a8283b9865b1addf6dfea35b95af199ee">maxPosQ</a> (char axis, double &nRad)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query max movement limit of a axis in absolute terms. <a href="#a8283b9865b1addf6dfea35b95af199ee"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a5ed07aa796c8c6233b1dae938bc1d09c">minPosQ</a> (char axis, double &nRad)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query min movement limit of a axis in absolute terms. <a href="#a5ed07aa796c8c6233b1dae938bc1d09c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a501fbf743b6bddf159d334df1b4bec9b">enableLimitsQ</a> (bool &enable)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query if exist movement limits. <a href="#a501fbf743b6bddf159d334df1b4bec9b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#afcffbc565093cdc3be1d0654141da1e9">enableLimits</a> (bool <a class="el" href="classstd_1_1set.html">set</a>)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enable/Disable movement limits. <a href="#afcffbc565093cdc3be1d0654141da1e9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ab0c9b28b77de0aa452b51a62fc40fe11">inmediateExecution</a> (bool <a class="el" href="classstd_1_1set.html">set</a>)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">With I mode (default) instructs pan-tilt unit to immediately execute positional commands. <a href="#ab0c9b28b77de0aa452b51a62fc40fe11"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#af767b0340ea3a1811464853345523061">aWait</a> (void)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Wait the finish of the last position command to continue accept commands. <a href="#af767b0340ea3a1811464853345523061"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a768b53f1cf0c3773d86a614a700e467e">haltAll</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Inmediately stop all. <a href="#a768b53f1cf0c3773d86a614a700e467e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#aa9bd8b4d229276bca7977ed33c9eedbc">halt</a> (char axis)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Inmediately stop. <a href="#aa9bd8b4d229276bca7977ed33c9eedbc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a93681296934c6f17e6788eb2236a179e">speed</a> (char axis, double RadSec)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of turn speed. <a href="#a93681296934c6f17e6788eb2236a179e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ad176c45be34a88173c5f8f3697685c22">speedQ</a> (char axis, double &RadSec)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query turn speed. <a href="#ad176c45be34a88173c5f8f3697685c22"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ac3dc5d09a73674b0f2409b6e1cea8264">aceleration</a> (char axis, double RadSec2)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification (de/a)celeration in turn. <a href="#ac3dc5d09a73674b0f2409b6e1cea8264"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a320129d0616d13fd32b946c514dbc9ed">acelerationQ</a> (char axis, double &RadSec2)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query (de/a)celeration in turn. <a href="#a320129d0616d13fd32b946c514dbc9ed"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#aa2bceb5cb37224dea1d5df917bc0ff82">baseSpeed</a> (char axis, double RadSec)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of velocity to which start and finish the (de/a)celeration. <a href="#aa2bceb5cb37224dea1d5df917bc0ff82"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a280026236f54c10d5f5615d2862a9bdf">baseSpeedQ</a> (char axis, double &RadSec)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query velocity to which start and finish the (de/a)celeration. <a href="#a280026236f54c10d5f5615d2862a9bdf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#adbd8ccb5c8b0a9fa344717fb64fd77c9">upperSpeed</a> (char axis, double RadSec)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of velocity upper limit. <a href="#adbd8ccb5c8b0a9fa344717fb64fd77c9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ab305ea24462568da6b48544193d7e732">upperSpeedQ</a> (char axis, double &RadSec)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query velocity upper limit. <a href="#ab305ea24462568da6b48544193d7e732"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a307bf7cb38c71d71ccd5795854b91a88">lowerSpeed</a> (char axis, double RadSec)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of velocity lower limit. <a href="#a307bf7cb38c71d71ccd5795854b91a88"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ae121992b60fe536bad86abe0dcc911b0">lowerSpeedQ</a> (char axis, double &RadSec)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query velocity lower limit. <a href="#ae121992b60fe536bad86abe0dcc911b0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a7577699de9ae0eb6c48d9dc804833406">reset</a> (void)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reset PTU to initial state. <a href="#a7577699de9ae0eb6c48d9dc804833406"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a545ace77b0c6298c13cbb26825f9adb5">save</a> (void)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save or restart default values. <a href="#a545ace77b0c6298c13cbb26825f9adb5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ac71b7655727b54ffbcf7e985eb556da0">restoreDefaults</a> (void)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Restore default values. <a href="#ac71b7655727b54ffbcf7e985eb556da0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ad91da7942124b601e9396af1a3590ca4">restoreFactoryDefaults</a> (void)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Restore factory default values. <a href="#ad91da7942124b601e9396af1a3590ca4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a4e46fddbae2375762e58881c901cee25">version</a> (char *nVersion)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Version and CopyRights. <a href="#a4e46fddbae2375762e58881c901cee25"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a27b054f294a8069576d61fa7415f940b">nversion</a> (double &nVersion)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of version. <a href="#a27b054f294a8069576d61fa7415f940b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a6a2a9e4f6b2e6e996e45177a893e652a">powerModeQ</a> (bool transit, char &mode)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query power mode. <a href="#a6a2a9e4f6b2e6e996e45177a893e652a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a12cbeaa142f619fdd1fc37f42ca654f7">powerMode</a> (bool transit, char mode)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of power mode. <a href="#a12cbeaa142f619fdd1fc37f42ca654f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ab657d008a6fc5127fa0ba0495b0b195c">status</a> (double &rad)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if ptu is moving. <a href="#ab657d008a6fc5127fa0ba0495b0b195c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ab6f66705c2e84470bd3c4e4e8839cc40">setLimits</a> (char axis, double &l, double &u)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set limits of movement. <a href="#ab6f66705c2e84470bd3c4e4e8839cc40"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a2351ea7e9b5bab6a253937494f6994f7">changeMotionDir</a> ()=0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#abdc0c2c540614f09322958f658434f97">checkErrors</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check errors, returns 0 if there are not errors or error code otherwise. <a href="#abdc0c2c540614f09322958f658434f97"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a807c7d9f010fbea656231c2df4b2f6b6">clearErrors</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear errors. <a href="#a807c7d9f010fbea656231c2df4b2f6b6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#add93e32cdec76f98517c9891b348abbf">init</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> port)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">PTU and serial port initialization. <a href="#add93e32cdec76f98517c9891b348abbf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a825be68ca81b49aa6eaa785e74f54aef">close</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Close conection with serial port. <a href="#a825be68ca81b49aa6eaa785e74f54aef"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ac1fc9095265cc28bffb16bdceb078ca5">radError</a> (char axis, double nRadMoved)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To obtains the mistake for use discrete values when the movement is expressed in radians. <a href="#ac1fc9095265cc28bffb16bdceb078ca5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual long </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#af58985af2f79f236db417d250b2a268b">radToPos</a> (char axis, double nRad)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To obtain the discrete value for a number of radians. <a href="#af58985af2f79f236db417d250b2a268b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a7645f0bbb0dccb4c0b749b74ab5d3d71">posToRad</a> (char axis, long nPos)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To obtain the number of radians for a discrete value. <a href="#a7645f0bbb0dccb4c0b749b74ab5d3d71"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a53a862f2e1374fbe334f9f2f9c13184e">scan</a> (char axis, int wait, float initial, float final, double RadPre)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs a scan in the axis indicated and whit the precision desired. <a href="#a53a862f2e1374fbe334f9f2f9c13184e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a7fc257cf361137cf851075c159e2d360">verboseQ</a> (bool &modo)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query verbose mode. <a href="#a7fc257cf361137cf851075c159e2d360"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ac787226a0c77003cab4e810999fb3a37">verbose</a> (bool <a class="el" href="classstd_1_1set.html">set</a>)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set verbose. <a href="#ac787226a0c77003cab4e810999fb3a37"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a60733d27fd9d545a63020b3bbc655145">echoModeQ</a> (bool &mode)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query echo mode. <a href="#a60733d27fd9d545a63020b3bbc655145"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a6626bbf577b50bdc0b62aa7ccb8b654f">echoMode</a> (bool mode)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enable/Disable echo response with command. <a href="#a6626bbf577b50bdc0b62aa7ccb8b654f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a39a7a1329b612b4d092022378ab96b2a">resolution</a> (void)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query the pan and tilt resolution per position moved and initialize local atributes. <a href="#a39a7a1329b612b4d092022378ab96b2a"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a703ca960a9e709f3f64d8f5feb5f5fcd">tiltResolution</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a5fa468ccf03732f24cad2f78c1fefaef">panResolution</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html">CSerialPort</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a2c91aac0211b4192cd7bba1e2c0d5834">serPort</a></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a54b6b157f75974c166c557e872ccff69">transmit</a> (const char *command)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To transmition commands to the PTU. <a href="#a54b6b157f75974c166c557e872ccff69"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ad2b79121511cf52a6392bc6a2070ad17">receive</a> (const char *command, char *response)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To receive the responseof the PTU. <a href="#ad2b79121511cf52a6392bc6a2070ad17"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a2011e6d71a525d0e2db8ded4262cbbb2">radQuerry</a> (char axis, char command, double &nRad)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used to obtains a number of radians. <a href="#a2011e6d71a525d0e2db8ded4262cbbb2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a5d9ee4bc072fad60e8f22a3988f8d3b7">radAsign</a> (char axis, char command, double nRad)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Method used for asign a number of radians with a command. <a href="#a5d9ee4bc072fad60e8f22a3988f8d3b7"></a><br/></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a37d94930ad00fc1b798afbe7ea25dcb2"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::~CPtuBase" ref="a37d94930ad00fc1b798afbe7ea25dcb2" args="()" -->
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<td class="memname">virtual mrpt::hwdrivers::CPtuBase::~CPtuBase </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
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<p>Destructor. </p>
<p>Definition at line <a class="el" href="_c_ptu_base_8h_source.html#l00061">61</a> of file <a class="el" href="_c_ptu_base_8h_source.html">CPtuBase.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a4a83a6de6e0ecb776b01c902ace23f0d"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::absPosQ" ref="a4a83a6de6e0ecb776b01c902ace23f0d" args="(char axis, double &nRad)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::absPosQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nRad</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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<p>Query position in absolute terms. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#af0d3c6f1c8a40b39f848e6f969f3d51c">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a87fbc2f7ecb15d1ae2f1c1afd6602943">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="ac3dc5d09a73674b0f2409b6e1cea8264"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::aceleration" ref="ac3dc5d09a73674b0f2409b6e1cea8264" args="(char axis, double RadSec2)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::aceleration </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>RadSec2</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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<p>Specification (de/a)celeration in turn. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ae46ede85a5548bc6186b98286b2cd4ac">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a29799c65fc066b4de8c9a24b20a407e9">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a320129d0616d13fd32b946c514dbc9ed"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::acelerationQ" ref="a320129d0616d13fd32b946c514dbc9ed" args="(char axis, double &RadSec2)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::acelerationQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>RadSec2</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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<div class="memdoc">
<p>Query (de/a)celeration in turn. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#aa53092b23b2da1466e6956ebdb5cc09f">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#abb8d1fa0accee73f77d05b1b5c8008f4">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="af767b0340ea3a1811464853345523061"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::aWait" ref="af767b0340ea3a1811464853345523061" args="(void)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::aWait </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [pure virtual]</code></td>
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<p>Wait the finish of the last position command to continue accept commands. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#afd6bb6b0ed82f8bc3414d737b6f11c96">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a8be0b89f6e325423ac6df3b301083717">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="aa2bceb5cb37224dea1d5df917bc0ff82"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::baseSpeed" ref="aa2bceb5cb37224dea1d5df917bc0ff82" args="(char axis, double RadSec)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::baseSpeed </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>RadSec</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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<p>Specification of velocity to which start and finish the (de/a)celeration. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#aa31c4283db84e88d1616f8fb62c28781">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a07013673c56b8c7bc5951b2e41cf34b2">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a280026236f54c10d5f5615d2862a9bdf"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::baseSpeedQ" ref="a280026236f54c10d5f5615d2862a9bdf" args="(char axis, double &RadSec)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::baseSpeedQ </td>
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<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>RadSec</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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<p>Query velocity to which start and finish the (de/a)celeration. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a1be3b8f5f2be78ea7d841bdc4ff2d79a">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a24a58d9c1c44f0a5e1e84ec4d3ba1e6a">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a2351ea7e9b5bab6a253937494f6994f7"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::changeMotionDir" ref="a2351ea7e9b5bab6a253937494f6994f7" args="()=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::changeMotionDir </td>
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<td><code> [pure virtual]</code></td>
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<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a07b8be7a9c66408febcfda2a696775b7">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a4530e0fc047dbee79eb4a5af21982f8e">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="abdc0c2c540614f09322958f658434f97"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::checkErrors" ref="abdc0c2c540614f09322958f658434f97" args="()=0" -->
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<td class="memname">virtual int mrpt::hwdrivers::CPtuBase::checkErrors </td>
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<td><code> [pure virtual]</code></td>
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<p>Check errors, returns 0 if there are not errors or error code otherwise. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ae281fd8febfe1ddca601759e5d1f2d2b">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a48ad6c5b4c823aa1504b6637728360d3">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="a807c7d9f010fbea656231c2df4b2f6b6"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::clearErrors" ref="a807c7d9f010fbea656231c2df4b2f6b6" args="()=0" -->
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<td class="memname">virtual void mrpt::hwdrivers::CPtuBase::clearErrors </td>
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<td><code> [pure virtual]</code></td>
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<p>Clear errors. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a5b83a3c8d347c3d1f1c0870773dc5e59">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a10a1866b626ef6ed3df451926f617223">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="a825be68ca81b49aa6eaa785e74f54aef"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::close" ref="a825be68ca81b49aa6eaa785e74f54aef" args="()=0" -->
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<td class="memname">virtual void mrpt::hwdrivers::CPtuBase::close </td>
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<td class="paramname"></td><td>)</td>
<td><code> [pure virtual]</code></td>
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<p>Close conection with serial port. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ad1a9dc07ae9eb18c9adceaf0f7e550cc">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a27b2d6aa6240f2525eeb6a5c6bfe2c27">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="a6626bbf577b50bdc0b62aa7ccb8b654f"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::echoMode" ref="a6626bbf577b50bdc0b62aa7ccb8b654f" args="(bool mode)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::echoMode </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>mode</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
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<p>Enable/Disable echo response with command. </p>
<p><br/>
</p>
<div class="fragment"><pre class="fragment"> Example of use (EE supposed):
PP * 22
ED *
<pp entered again, but not echoed>* 22
</pre></div>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ac4744c80d06869a0b8088c5fc78849b7">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a153b570aa33ea8ca3aeca7cd8dee7834">mrpt::hwdrivers::CTuMicos</a>.</p>
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</div>
<a class="anchor" id="a60733d27fd9d545a63020b3bbc655145"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::echoModeQ" ref="a60733d27fd9d545a63020b3bbc655145" args="(bool &mode)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::echoModeQ </td>
<td>(</td>
<td class="paramtype">bool & </td>
<td class="paramname"><em>mode</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query echo mode. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a04a8479dfab18ba2f44832fce71fe56f">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#aa5c87f901e8997ab4b84dec99e082510">mrpt::hwdrivers::CTuMicos</a>.</p>
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</div>
<a class="anchor" id="afcffbc565093cdc3be1d0654141da1e9"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::enableLimits" ref="afcffbc565093cdc3be1d0654141da1e9" args="(bool set)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::enableLimits </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>set</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Enable/Disable movement limits. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ad6c8ec5bb968b1d837b33981ed4b71df">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a842f7f67fe025273496ef6e15b7f0d76">mrpt::hwdrivers::CPtuDPerception</a>.</p>
</div>
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<a class="anchor" id="a501fbf743b6bddf159d334df1b4bec9b"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::enableLimitsQ" ref="a501fbf743b6bddf159d334df1b4bec9b" args="(bool &enable)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::enableLimitsQ </td>
<td>(</td>
<td class="paramtype">bool & </td>
<td class="paramname"><em>enable</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query if exist movement limits. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a097a4d10a069974d28b051e581a4b846">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a3552614bfa696ad2aca74da8063d1c0d">mrpt::hwdrivers::CPtuDPerception</a>.</p>
</div>
</div>
<a class="anchor" id="aa9bd8b4d229276bca7977ed33c9eedbc"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::halt" ref="aa9bd8b4d229276bca7977ed33c9eedbc" args="(char axis)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::halt </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Inmediately stop. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a4eb49d4f2cb3c90892ee4b7d39b74907">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#acac8d4b0499401813646462219b53ad7">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a768b53f1cf0c3773d86a614a700e467e"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::haltAll" ref="a768b53f1cf0c3773d86a614a700e467e" args="()=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::haltAll </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Inmediately stop all. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a6bf6814d3501afce06adcbb866df2ade">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a42a002bf19fba7ed251b4a7bfc08b206">mrpt::hwdrivers::CPtuDPerception</a>.</p>
</div>
</div>
<a class="anchor" id="add93e32cdec76f98517c9891b348abbf"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::init" ref="add93e32cdec76f98517c9891b348abbf" args="(const std::string port)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::init </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> </td>
<td class="paramname"><em>port</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
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<div class="memdoc">
<p>PTU and serial port initialization. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a5dbdbb4c54aad6c1e75365b18d2e2b8f">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a3455b247dd08f97c39214651394f2883">mrpt::hwdrivers::CTuMicos</a>.</p>
</div>
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<a class="anchor" id="ab0c9b28b77de0aa452b51a62fc40fe11"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::inmediateExecution" ref="ab0c9b28b77de0aa452b51a62fc40fe11" args="(bool set)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::inmediateExecution </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>set</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>With I mode (default) instructs pan-tilt unit to immediately execute positional commands. </p>
<p><br/>
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. <br/>
</p>
<div class="fragment"><pre class="fragment"> 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
</pre></div>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#aef64ad74121ddc0a9b70b5457df22d89">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ab012a95c6e5c772a1907ca56702bf7f3">mrpt::hwdrivers::CPtuDPerception</a>.</p>
</div>
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<a class="anchor" id="a307bf7cb38c71d71ccd5795854b91a88"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::lowerSpeed" ref="a307bf7cb38c71d71ccd5795854b91a88" args="(char axis, double RadSec)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::lowerSpeed </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>RadSec</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Specification of velocity lower limit. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a2ae07aab37a5d2b88d8b69a7b5436ca1">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a0c16c40e4f8bac12897bb65090fceead">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="ae121992b60fe536bad86abe0dcc911b0"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::lowerSpeedQ" ref="ae121992b60fe536bad86abe0dcc911b0" args="(char axis, double &RadSec)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::lowerSpeedQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>RadSec</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query velocity lower limit. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ae9fd4a92fee30a07e2fac294d11590ec">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a3e04f5bb2ea86a4bc919f7b7fcfa327a">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a8283b9865b1addf6dfea35b95af199ee"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::maxPosQ" ref="a8283b9865b1addf6dfea35b95af199ee" args="(char axis, double &nRad)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::maxPosQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query max movement limit of a axis in absolute terms. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a76d884769177f035cffa3ce37b9a7ce9">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#acecb0ac09a110fa1c601bfb4b61ef563">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a5ed07aa796c8c6233b1dae938bc1d09c"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::minPosQ" ref="a5ed07aa796c8c6233b1dae938bc1d09c" args="(char axis, double &nRad)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::minPosQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query min movement limit of a axis in absolute terms. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ab83fd9031a673de250147708897e6e4d">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a4dc45d833c99be66a67265dd79e01689">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a34b6428bbf36b6607d923af8a8e0b080"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::moveToAbsPos" ref="a34b6428bbf36b6607d923af8a8e0b080" args="(char axis, double nRad)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::moveToAbsPos </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Specification of positions in absolute terms. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a0ce0953ffc27b2f3b2691386258c78e8">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a35f206d1436f9e0264bc9e7cd24428b5">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a47aa12f1259ce7109da1ba58a6dd7412"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::moveToOffPos" ref="a47aa12f1259ce7109da1ba58a6dd7412" args="(char axis, double nRad)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::moveToOffPos </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
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<p>Specify desired axis position as an offset from the current position. </p>
<p><br/>
This method recives the number of radians to move. </p>
<div class="fragment"><pre class="fragment"> Example of use:
TT-500 *
A *
TO * Current Tilt position is -500
TO500 *
A *
TT * Current Pan position is 1000
</pre></div>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a277edd8d65889dff116deb059bad0df5">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a0ad438792c7bd8bae0c56981b80861b8">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a27b054f294a8069576d61fa7415f940b"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::nversion" ref="a27b054f294a8069576d61fa7415f940b" args="(double &nVersion)=0" -->
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<td class="memname">virtual void mrpt::hwdrivers::CPtuBase::nversion </td>
<td>(</td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nVersion</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Number of version. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a526a9323e71d822cac5ca72646598653">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a534524ffcdca39ca45c5a5c37c0422f1">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a675c7a250848401469a145ca2aadf348"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::offPosQ" ref="a675c7a250848401469a145ca2aadf348" args="(char axis, double &nRad)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::offPosQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query position in relative terms. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ad985079d72db2689055b8f6736f6a9a9">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a15c719c9857fc980f26b4e9bd37d9a88">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a7645f0bbb0dccb4c0b749b74ab5d3d71"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::posToRad" ref="a7645f0bbb0dccb4c0b749b74ab5d3d71" args="(char axis, long nPos)=0" -->
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<td class="memname">virtual double mrpt::hwdrivers::CPtuBase::posToRad </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>nPos</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
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<p>To obtain the number of radians for a discrete value. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#aac974ff56102533ddbb31de551aaa668">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#af79d50778d228dfe13086a08c98c17b9">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="a12cbeaa142f619fdd1fc37f42ca654f7"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::powerMode" ref="a12cbeaa142f619fdd1fc37f42ca654f7" args="(bool transit, char mode)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::powerMode </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>transit</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>mode</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Specification of power mode. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ab7d37a69c8dec096af822493c49f1d68">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a17bfabf1201ce761f0d28190b8b88f48">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a6a2a9e4f6b2e6e996e45177a893e652a"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::powerModeQ" ref="a6a2a9e4f6b2e6e996e45177a893e652a" args="(bool transit, char &mode)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::powerModeQ </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>transit</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char & </td>
<td class="paramname"><em>mode</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Query power mode. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a72446197e15f760361cdf81a668878a4">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#aadff6550cf61db4efd35143b66af1da3">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a5d9ee4bc072fad60e8f22a3988f8d3b7"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::radAsign" ref="a5d9ee4bc072fad60e8f22a3988f8d3b7" args="(char axis, char command, double nRad)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::radAsign </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>command</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private, pure virtual]</code></td>
</tr>
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<div class="memdoc">
<p>Method used for asign a number of radians with a command. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a314039025a3425fba35cf19c27004137">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a382dee07e9c92b3f1d6b1db18a986303">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="ac1fc9095265cc28bffb16bdceb078ca5"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::radError" ref="ac1fc9095265cc28bffb16bdceb078ca5" args="(char axis, double nRadMoved)=0" -->
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<td class="memname">virtual double mrpt::hwdrivers::CPtuBase::radError </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>nRadMoved</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>To obtains the mistake for use discrete values when the movement is expressed in radians. </p>
<p>Parameters are the absolute position in radians and the axis desired </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a925396cdea324fa0c858b998cc98b89f">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#aa90d19471d42e173d999afd4d788c66c">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="a2011e6d71a525d0e2db8ded4262cbbb2"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::radQuerry" ref="a2011e6d71a525d0e2db8ded4262cbbb2" args="(char axis, char command, double &nRad)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::radQuerry </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>command</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private, pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Used to obtains a number of radians. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a1f9a5c7c6da74291fcdabb175a0d145b">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a93d6c21c9bae621f8c97e30a66a07baa">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="af58985af2f79f236db417d250b2a268b"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::radToPos" ref="af58985af2f79f236db417d250b2a268b" args="(char axis, double nRad)=0" -->
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<td class="memname">virtual long mrpt::hwdrivers::CPtuBase::radToPos </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>To obtain the discrete value for a number of radians. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ab579233c8836b12e6cde3dedcb1c49d1">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a445c1bd9b5512459f9f7a8d55c230ed2">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="a7f8908698d38d41007625ea299d02c3f"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::rangeMeasure" ref="a7f8908698d38d41007625ea299d02c3f" args="()=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::rangeMeasure </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Search limit forward. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ac4eb58b9cedbce222835445a24509bd4">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#aa69bea6facdff727fd6a87e4f9d19e86">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="ad2b79121511cf52a6392bc6a2070ad17"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::receive" ref="ad2b79121511cf52a6392bc6a2070ad17" args="(const char *command, char *response)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::receive </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>command</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char * </td>
<td class="paramname"><em>response</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private, pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>To receive the responseof the PTU. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#acdf142a89e9f7eaf2fb5a0efa7a0cd2d">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a2c692af93f7418223d05b02aa1d68e40">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="a7577699de9ae0eb6c48d9dc804833406"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::reset" ref="a7577699de9ae0eb6c48d9dc804833406" args="(void)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::reset </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Reset PTU to initial state. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ab57668f92f293144f879690eb7a1caf0">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a97d3b7f2a58b2e77c09cccaef95948a2">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a39a7a1329b612b4d092022378ab96b2a"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::resolution" ref="a39a7a1329b612b4d092022378ab96b2a" args="(void)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::resolution </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
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<p>Query the pan and tilt resolution per position moved and initialize local atributes. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a47caf88a0007be73cf46825a513e4367">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ac7ac06f87c96bb97f91b5696789aa6f0">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="ac71b7655727b54ffbcf7e985eb556da0"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::restoreDefaults" ref="ac71b7655727b54ffbcf7e985eb556da0" args="(void)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::restoreDefaults </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Restore default values. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a84fec14614283d70800af18eccd36395">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a4fe12aa91d4d72b1fca56a574038e11d">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="ad91da7942124b601e9396af1a3590ca4"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::restoreFactoryDefaults" ref="ad91da7942124b601e9396af1a3590ca4" args="(void)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::restoreFactoryDefaults </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Restore factory default values. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a598a3fd355152a89506ae34162e20d11">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a296862d59a2f240ccb8c236c303b92dc">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a545ace77b0c6298c13cbb26825f9adb5"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::save" ref="a545ace77b0c6298c13cbb26825f9adb5" args="(void)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::save </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Save or restart default values. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ab75173bdd00c7362eb865238e79638b0">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#aacd4ae7855dea6848a32b629bbb323d5">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a53a862f2e1374fbe334f9f2f9c13184e"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::scan" ref="a53a862f2e1374fbe334f9f2f9c13184e" args="(char axis, int wait, float initial, float final, double RadPre)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::scan </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>wait</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>initial</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>final</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>RadPre</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
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<p>Performs a scan in the axis indicated and whit the precision desired. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname"><axis></td><td>{Pan or Till} </td></tr>
<tr><td class="paramname"><tWait></td><td>{Wait time betwen commands} </td></tr>
<tr><td class="paramname"><initial></td><td>{initial position} </td></tr>
<tr><td class="paramname"><final></td><td>{final position} </td></tr>
<tr><td class="paramname"><RadPre></td><td>{radians precision for the scan} </td></tr>
</table>
</dd>
</dl>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a090f094ed93ed87a5a22ba0b2cbcbada">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a69f962a60ecde07e073aa3c2d346c407">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="ab6f66705c2e84470bd3c4e4e8839cc40"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::setLimits" ref="ab6f66705c2e84470bd3c4e4e8839cc40" args="(char axis, double &l, double &u)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::setLimits </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>l</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>u</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set limits of movement. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#af30bc920dc40cbafed4c458c299569ec">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ad68f07c8769fe196b951b0ffb6be0f83">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a93681296934c6f17e6788eb2236a179e"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::speed" ref="a93681296934c6f17e6788eb2236a179e" args="(char axis, double RadSec)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::speed </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>RadSec</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Specification of turn speed. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a51b1a3055853b3845e9779292001ddf6">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a97488d60a94ee948ee432ef1921158ce">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="ad176c45be34a88173c5f8f3697685c22"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::speedQ" ref="ad176c45be34a88173c5f8f3697685c22" args="(char axis, double &RadSec)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::speedQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>RadSec</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query turn speed. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#aae46952a2c267541c2126be0a9ef9330">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a42a6c1d9c85010dcdbe8399d5dae2b87">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="ab657d008a6fc5127fa0ba0495b0b195c"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::status" ref="ab657d008a6fc5127fa0ba0495b0b195c" args="(double &rad)=0" -->
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<td class="memname">virtual double mrpt::hwdrivers::CPtuBase::status </td>
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<td class="paramtype">double & </td>
<td class="paramname"><em>rad</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
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<p>Check if ptu is moving. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#aa0754c7c5b2e21b2fc0a7adc05e0da19">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#adb9a6d080ee06598076ee2e13f642fa3">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="a54b6b157f75974c166c557e872ccff69"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::transmit" ref="a54b6b157f75974c166c557e872ccff69" args="(const char *command)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::transmit </td>
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<td class="paramtype">const char * </td>
<td class="paramname"><em>command</em></td><td>)</td>
<td><code> [private, pure virtual]</code></td>
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<p>To transmition commands to the PTU. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a5fa696f2bc375d1fae81fb522b3e7899">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a1a9a01135f0586918fc9d7b04e203cf0">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="adbd8ccb5c8b0a9fa344717fb64fd77c9"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::upperSpeed" ref="adbd8ccb5c8b0a9fa344717fb64fd77c9" args="(char axis, double RadSec)=0" -->
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<td class="paramtype">char </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>RadSec</em> </td>
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<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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<p>Specification of velocity upper limit. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#aa921ec82ce4f2b7f3770ff7e490427ec">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ad01f781e7ca1793dc06d560482691c61">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="ab305ea24462568da6b48544193d7e732"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::upperSpeedQ" ref="ab305ea24462568da6b48544193d7e732" args="(char axis, double &RadSec)=0" -->
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<td class="paramtype">char </td>
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<td class="paramtype">double & </td>
<td class="paramname"><em>RadSec</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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<p>Query velocity upper limit. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ab49c3eb1623f89d054b57239c561f147">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#aba3691cd7a8114a9327384e994b86373">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<a class="anchor" id="ac787226a0c77003cab4e810999fb3a37"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::verbose" ref="ac787226a0c77003cab4e810999fb3a37" args="(bool set)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::verbose </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>set</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
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<p>Set verbose. </p>
<p><br/>
Example of response with FV (verbose) active: FV * PP * Current pan position is 0 Example of response with FT (terse) active: FT * PP * 0 </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a5cf7b30547aaebddc6c68e6b1b9ad4c6">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ac34166a73e4514e7e7b039fb1c230216">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="a7fc257cf361137cf851075c159e2d360"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::verboseQ" ref="a7fc257cf361137cf851075c159e2d360" args="(bool &modo)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::verboseQ </td>
<td>(</td>
<td class="paramtype">bool & </td>
<td class="paramname"><em>modo</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
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<p>Query verbose mode. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ad15fcf520bf91fc0493c241f8bc43edc">mrpt::hwdrivers::CPtuDPerception</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a7f980de3432df40e4965efb9377f2622">mrpt::hwdrivers::CTuMicos</a>.</p>
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<a class="anchor" id="a4e46fddbae2375762e58881c901cee25"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::version" ref="a4e46fddbae2375762e58881c901cee25" args="(char *nVersion)=0" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuBase::version </td>
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<td class="paramtype">char * </td>
<td class="paramname"><em>nVersion</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
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<p>Version and CopyRights. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#afbac933dd1480c00d5e031c6ec690600">mrpt::hwdrivers::CTuMicos</a>, and <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ad431e00a4cbef00bd158721cfb88867d">mrpt::hwdrivers::CPtuDPerception</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a5fa468ccf03732f24cad2f78c1fefaef"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::panResolution" ref="a5fa468ccf03732f24cad2f78c1fefaef" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a5fa468ccf03732f24cad2f78c1fefaef">mrpt::hwdrivers::CPtuBase::panResolution</a></td>
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<p>Definition at line <a class="el" href="_c_ptu_base_8h_source.html#l00049">49</a> of file <a class="el" href="_c_ptu_base_8h_source.html">CPtuBase.h</a>.</p>
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<a class="anchor" id="a2c91aac0211b4192cd7bba1e2c0d5834"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::serPort" ref="a2c91aac0211b4192cd7bba1e2c0d5834" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html">CSerialPort</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a2c91aac0211b4192cd7bba1e2c0d5834">mrpt::hwdrivers::CPtuBase::serPort</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_ptu_base_8h_source.html#l00053">53</a> of file <a class="el" href="_c_ptu_base_8h_source.html">CPtuBase.h</a>.</p>
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<a class="anchor" id="a703ca960a9e709f3f64d8f5feb5f5fcd"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuBase::tiltResolution" ref="a703ca960a9e709f3f64d8f5feb5f5fcd" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a703ca960a9e709f3f64d8f5feb5f5fcd">mrpt::hwdrivers::CPtuBase::tiltResolution</a></td>
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<p>Definition at line <a class="el" href="_c_ptu_base_8h_source.html#l00049">49</a> of file <a class="el" href="_c_ptu_base_8h_source.html">CPtuBase.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
