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<div class="title">mrpt::hwdrivers::CPtuDPerception 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::CPtuDPerception" --><!-- doxytag: inherits="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 Pan and Tilt Unit model PTU-46-17.5, working in radians . </p>
</div>
<p><code>#include <<a class="el" href="_c_ptu_d_perception_8h_source.html">mrpt/hwdrivers/CPtuDPerception.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CPtuDPerception:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_ptu_d_perception_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_ptu_d_perception_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_ptu_d_perception_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html" title="This class implements initialization and comunication methods to control a generic Pan and Tilt Unit..." alt="" coords="26,5,205,32"/></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_d_perception-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <br/>
  <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82ab6596207d4e840ec766c5a9904ca1a1c">NoError</a> = 1,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82a650859d5734a796236a3c0d224304875">ComError</a> = 2,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82aa51627274b24f385130b38c53e407904">TimeoutError</a> = 3,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82a6e6a1f1e777844486682d2184ac0b257">InitError</a> = 5,
<br/>
  <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82a9c26facf5d2b8766dc588244fcd3bc71">PanHitError</a> = 7,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82a59d8fc17d267c85188b07f86e60872ab">TiltHitError</a> = 11,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82af1e30def87a60627a2084219b0721688">PanTiltHitError</a> = 13,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82a4f5e377f09bf1b29d8edbea7530a489f">MaxLimitError</a> = 17,
<br/>
  <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82abbc252055358b6ba51121be06b6ce9ee">MinLimitError</a> = 19,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82a055ce6c3358b869af6f639f7dc0e15ce">OutOfRange</a> = 23,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82a6830e8712509a789d21911100871ca67">IllegalCommandError</a> = 29,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a03eac2758d3132bd49c5a74c1e4dce82ad007c4e349ab064ff8967377a9360c51">UnExpectedError</a> = 31
<br/>
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a943b068cc1c7b2d4f0b98751fb46d899aacacace283bf52515fef2b7ab31ea2e4">Pan</a> = 'P',
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a943b068cc1c7b2d4f0b98751fb46d899a01b6e0e48f88f997ca9352a832021157">Tilt</a> = 'T'
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ac9fce1aa9ef3d1d122eef212460cc924a62cc9189946f1c2c0a87d44acab03f12">Regular</a> = 'R',
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ac9fce1aa9ef3d1d122eef212460cc924a99bcc1b77991bfac31b9585833bb6a37">High</a> = 'H',
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ac9fce1aa9ef3d1d122eef212460cc924ab3c84b5729b3a82321a09eff7fa0d573">Low</a> = 'L',
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ac9fce1aa9ef3d1d122eef212460cc924a19c4d74ab3c84a85d003c562d75ab8f5">Off</a> = 'O'
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a2def1667a0f0426f9b93802e61ce55daaf9e5a1aa463eecf8a6cb8d44420e8096">Com1</a> = 1,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a2def1667a0f0426f9b93802e61ce55daa9512ac2c7c81c6332aa40376dce2248d">Com2</a> = 2,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a2def1667a0f0426f9b93802e61ce55daa81cc7eca001025b91213f3ecd15a5c47">Com3</a> = 3,
<a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a2def1667a0f0426f9b93802e61ce55daa148b961b7a4500d641c29f164cbfba18">Com4</a> = 4
}</td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a05de3743099f75a4c5954d4e56a71aa9">CPtuDPerception</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a05de3743099f75a4c5954d4e56a71aa9"></a><br/></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_d_perception.html#a3b7cd284e6ce9ddb227eee520404702a">~CPtuDPerception</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a3b7cd284e6ce9ddb227eee520404702a"></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_d_perception.html#aa69bea6facdff727fd6a87e4f9d19e86">rangeMeasure</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Search limit forward. <a href="#aa69bea6facdff727fd6a87e4f9d19e86"></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_d_perception.html#a35f206d1436f9e0264bc9e7cd24428b5">moveToAbsPos</a> (char axis, double nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of positions in absolute terms. <a href="#a35f206d1436f9e0264bc9e7cd24428b5"></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_d_perception.html#a87fbc2f7ecb15d1ae2f1c1afd6602943">absPosQ</a> (char axis, double &nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query position in absolute terms. <a href="#a87fbc2f7ecb15d1ae2f1c1afd6602943"></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_d_perception.html#a0ad438792c7bd8bae0c56981b80861b8">moveToOffPos</a> (char axis, double nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specify desired axis position as an offset from the current position. <a href="#a0ad438792c7bd8bae0c56981b80861b8"></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_d_perception.html#a15c719c9857fc980f26b4e9bd37d9a88">offPosQ</a> (char axis, double &nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query position in relative terms. <a href="#a15c719c9857fc980f26b4e9bd37d9a88"></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_d_perception.html#acecb0ac09a110fa1c601bfb4b61ef563">maxPosQ</a> (char axis, double &nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query max movement limit of a axis in absolute terms. <a href="#acecb0ac09a110fa1c601bfb4b61ef563"></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_d_perception.html#a4dc45d833c99be66a67265dd79e01689">minPosQ</a> (char axis, double &nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query min movement limit of a axis in absolute terms. <a href="#a4dc45d833c99be66a67265dd79e01689"></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_d_perception.html#a3552614bfa696ad2aca74da8063d1c0d">enableLimitsQ</a> (bool &enable)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query if exist movement limits. <a href="#a3552614bfa696ad2aca74da8063d1c0d"></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_d_perception.html#a842f7f67fe025273496ef6e15b7f0d76">enableLimits</a> (bool <a class="el" href="classstd_1_1set.html">set</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enable/Disable movement limits. <a href="#a842f7f67fe025273496ef6e15b7f0d76"></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_d_perception.html#ab012a95c6e5c772a1907ca56702bf7f3">inmediateExecution</a> (bool <a class="el" href="classstd_1_1set.html">set</a>)</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="#ab012a95c6e5c772a1907ca56702bf7f3"></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_d_perception.html#a8be0b89f6e325423ac6df3b301083717">aWait</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Wait the finish of the last position command to continue accept commands. <a href="#a8be0b89f6e325423ac6df3b301083717"></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_d_perception.html#a42a002bf19fba7ed251b4a7bfc08b206">haltAll</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Inmediately stop all. <a href="#a42a002bf19fba7ed251b4a7bfc08b206"></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_d_perception.html#acac8d4b0499401813646462219b53ad7">halt</a> (char axis)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Inmediately stop. <a href="#acac8d4b0499401813646462219b53ad7"></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_d_perception.html#a97488d60a94ee948ee432ef1921158ce">speed</a> (char axis, double radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of turn speed. <a href="#a97488d60a94ee948ee432ef1921158ce"></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_d_perception.html#a42a6c1d9c85010dcdbe8399d5dae2b87">speedQ</a> (char axis, double &radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query turn speed. <a href="#a42a6c1d9c85010dcdbe8399d5dae2b87"></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_d_perception.html#a29799c65fc066b4de8c9a24b20a407e9">aceleration</a> (char axis, double radSec2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification (de/a)celeration in turn. <a href="#a29799c65fc066b4de8c9a24b20a407e9"></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_d_perception.html#abb8d1fa0accee73f77d05b1b5c8008f4">acelerationQ</a> (char axis, double &radSec2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query (de/a)celeration in turn. <a href="#abb8d1fa0accee73f77d05b1b5c8008f4"></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_d_perception.html#a07013673c56b8c7bc5951b2e41cf34b2">baseSpeed</a> (char axis, double radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of velocity to which start and finish the (de/a)celeration. <a href="#a07013673c56b8c7bc5951b2e41cf34b2"></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_d_perception.html#a24a58d9c1c44f0a5e1e84ec4d3ba1e6a">baseSpeedQ</a> (char axis, double &radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query velocity to which start and finish the (de/a)celeration. <a href="#a24a58d9c1c44f0a5e1e84ec4d3ba1e6a"></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_d_perception.html#ad01f781e7ca1793dc06d560482691c61">upperSpeed</a> (char axis, double radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of velocity upper limit. <a href="#ad01f781e7ca1793dc06d560482691c61"></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_d_perception.html#aba3691cd7a8114a9327384e994b86373">upperSpeedQ</a> (char axis, double &radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query velocity upper limit. <a href="#aba3691cd7a8114a9327384e994b86373"></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_d_perception.html#a0c16c40e4f8bac12897bb65090fceead">lowerSpeed</a> (char axis, double radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of velocity lower limit. <a href="#a0c16c40e4f8bac12897bb65090fceead"></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_d_perception.html#a3e04f5bb2ea86a4bc919f7b7fcfa327a">lowerSpeedQ</a> (char axis, double &radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query velocity lower limit. <a href="#a3e04f5bb2ea86a4bc919f7b7fcfa327a"></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_d_perception.html#a97d3b7f2a58b2e77c09cccaef95948a2">reset</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reset PTU to initial state. <a href="#a97d3b7f2a58b2e77c09cccaef95948a2"></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_d_perception.html#aacd4ae7855dea6848a32b629bbb323d5">save</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save or restart default values. <a href="#aacd4ae7855dea6848a32b629bbb323d5"></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_d_perception.html#a4fe12aa91d4d72b1fca56a574038e11d">restoreDefaults</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Restore default values. <a href="#a4fe12aa91d4d72b1fca56a574038e11d"></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_d_perception.html#a296862d59a2f240ccb8c236c303b92dc">restoreFactoryDefaults</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Restore factory default values. <a href="#a296862d59a2f240ccb8c236c303b92dc"></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_d_perception.html#ad431e00a4cbef00bd158721cfb88867d">version</a> (char *nVersion)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Version and CopyRights. <a href="#ad431e00a4cbef00bd158721cfb88867d"></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_d_perception.html#a534524ffcdca39ca45c5a5c37c0422f1">nversion</a> (double &nVersion)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of version. <a href="#a534524ffcdca39ca45c5a5c37c0422f1"></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_d_perception.html#aadff6550cf61db4efd35143b66af1da3">powerModeQ</a> (bool transit, char &mode)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query power mode. <a href="#aadff6550cf61db4efd35143b66af1da3"></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_d_perception.html#a17bfabf1201ce761f0d28190b8b88f48">powerMode</a> (bool transit, char mode)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of power mode. <a href="#a17bfabf1201ce761f0d28190b8b88f48"></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_d_perception.html#adb9a6d080ee06598076ee2e13f642fa3">status</a> (double &rad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if ptu is moving. <a href="#adb9a6d080ee06598076ee2e13f642fa3"></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_d_perception.html#ad68f07c8769fe196b951b0ffb6be0f83">setLimits</a> (char axis, double &l, double &u)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set limits of movement. <a href="#ad68f07c8769fe196b951b0ffb6be0f83"></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_d_perception.html#a4530e0fc047dbee79eb4a5af21982f8e">changeMotionDir</a> ()</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_d_perception.html#ae281fd8febfe1ddca601759e5d1f2d2b">checkErrors</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check errors, returns 0 if there are not errors or error code in otherwise Error codes: <a href="#ae281fd8febfe1ddca601759e5d1f2d2b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a14f9ef2d64ebf9e94b28d6958a1cc251">noError</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a1b33ac92d3c6a356b62aa5f991c71668">comError</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a7426d329bc6da9043d799d387ea4bb93">timeoutError</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a35549a061963e22f03a5009da8d597e7">initError</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a2c3d0acd87a75299efa59ed20b0a3c14">panTiltHitError</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#afcac535d2a732df91afd1eaafe02478d">panHitError</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a65ef596b364608ebc5e72f117bb22503">tiltHitError</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ac77ad44b7459fdfa3df15b8fbcf0d0e4">maxLimitError</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a48b24fa5e7ef20411743169498ad6f5d">minLimitError</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a5678c521631c7db7dee4d8769c142f64">outOfRange</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#ac984a95f90dc5cfe81407b62172db200">illegalCommandError</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a1d1b56c6bd17b341366806ba6c63bec3">unExpectedError</a> ()</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_d_perception.html#a5b83a3c8d347c3d1f1c0870773dc5e59">clearErrors</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear errors. <a href="#a5b83a3c8d347c3d1f1c0870773dc5e59"></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_d_perception.html#a5dbdbb4c54aad6c1e75365b18d2e2b8f">init</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> port)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">PTU and serial port initialization. <a href="#a5dbdbb4c54aad6c1e75365b18d2e2b8f"></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_d_perception.html#ad1a9dc07ae9eb18c9adceaf0f7e550cc">close</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Close conection with serial port. <a href="#ad1a9dc07ae9eb18c9adceaf0f7e550cc"></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_d_perception.html#a925396cdea324fa0c858b998cc98b89f">radError</a> (char axis, double nRadMoved)</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="#a925396cdea324fa0c858b998cc98b89f"></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_d_perception.html#ab579233c8836b12e6cde3dedcb1c49d1">radToPos</a> (char axis, double nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To obtain the discrete value for a number of radians. <a href="#ab579233c8836b12e6cde3dedcb1c49d1"></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_d_perception.html#aac974ff56102533ddbb31de551aaa668">posToRad</a> (char axis, long nPos)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To obtain the number of radians for a discrete value. <a href="#aac974ff56102533ddbb31de551aaa668"></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_d_perception.html#a090f094ed93ed87a5a22ba0b2cbcbada">scan</a> (char axis, int wait, float initial, float final, double radPre)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs a scan in the axis indicated and whit the precision desired. <a href="#a090f094ed93ed87a5a22ba0b2cbcbada"></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_d_perception.html#ad15fcf520bf91fc0493c241f8bc43edc">verboseQ</a> (bool &modo)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query verbose mode. <a href="#ad15fcf520bf91fc0493c241f8bc43edc"></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_d_perception.html#a5cf7b30547aaebddc6c68e6b1b9ad4c6">verbose</a> (bool <a class="el" href="classstd_1_1set.html">set</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set verbose. <a href="#a5cf7b30547aaebddc6c68e6b1b9ad4c6"></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_d_perception.html#a04a8479dfab18ba2f44832fce71fe56f">echoModeQ</a> (bool &mode)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query echo mode. <a href="#a04a8479dfab18ba2f44832fce71fe56f"></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_d_perception.html#ac4744c80d06869a0b8088c5fc78849b7">echoMode</a> (bool mode)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enable/Disable echo response with command. <a href="#ac4744c80d06869a0b8088c5fc78849b7"></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_d_perception.html#a47caf88a0007be73cf46825a513e4367">resolution</a> (void)</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="#a47caf88a0007be73cf46825a513e4367"></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">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a6bfd6ecef108a33ecc181f2e9a7497e0">nError</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">TimeoutError: Only occurs if the communication is cut with PTU so it is advisable to check the connection and initialize again the comunication. <a href="#a6bfd6ecef108a33ecc181f2e9a7497e0"></a><br/></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_d_perception.html#a5fa696f2bc375d1fae81fb522b3e7899">transmit</a> (const char *command)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To transmition commands to the PTU. <a href="#a5fa696f2bc375d1fae81fb522b3e7899"></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_d_perception.html#acdf142a89e9f7eaf2fb5a0efa7a0cd2d">receive</a> (const char *command, char *response)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To receive the responseof the PTU. <a href="#acdf142a89e9f7eaf2fb5a0efa7a0cd2d"></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_d_perception.html#a1f9a5c7c6da74291fcdabb175a0d145b">radQuerry</a> (char axis, char command, double &nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used to obtains a number of radians. <a href="#a1f9a5c7c6da74291fcdabb175a0d145b"></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_d_perception.html#a314039025a3425fba35cf19c27004137">radAsign</a> (char axis, char command, double nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Method used for asign a number of radians with a command. <a href="#a314039025a3425fba35cf19c27004137"></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_d_perception.html#ab1a3702ffdb4bd1e33b33b1ce8decca1">convertToDouble</a> (char *sDouble)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Convert string to double. <a href="#ab1a3702ffdb4bd1e33b33b1ce8decca1"></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_d_perception.html#a11cfe4b14853284c220d3bf7d6a52dd8">convertToLong</a> (char *sLong)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Convert string to long. <a href="#a11cfe4b14853284c220d3bf7d6a52dd8"></a><br/></td></tr>
</table>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::@44" ref="a03eac2758d3132bd49c5a74c1e4dce82" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">anonymous enum</td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82ab6596207d4e840ec766c5a9904ca1a1c"></a><!-- doxytag: member="NoError" ref="a03eac2758d3132bd49c5a74c1e4dce82ab6596207d4e840ec766c5a9904ca1a1c" args="" -->NoError</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82a650859d5734a796236a3c0d224304875"></a><!-- doxytag: member="ComError" ref="a03eac2758d3132bd49c5a74c1e4dce82a650859d5734a796236a3c0d224304875" args="" -->ComError</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82aa51627274b24f385130b38c53e407904"></a><!-- doxytag: member="TimeoutError" ref="a03eac2758d3132bd49c5a74c1e4dce82aa51627274b24f385130b38c53e407904" args="" -->TimeoutError</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82a6e6a1f1e777844486682d2184ac0b257"></a><!-- doxytag: member="InitError" ref="a03eac2758d3132bd49c5a74c1e4dce82a6e6a1f1e777844486682d2184ac0b257" args="" -->InitError</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82a9c26facf5d2b8766dc588244fcd3bc71"></a><!-- doxytag: member="PanHitError" ref="a03eac2758d3132bd49c5a74c1e4dce82a9c26facf5d2b8766dc588244fcd3bc71" args="" -->PanHitError</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82a59d8fc17d267c85188b07f86e60872ab"></a><!-- doxytag: member="TiltHitError" ref="a03eac2758d3132bd49c5a74c1e4dce82a59d8fc17d267c85188b07f86e60872ab" args="" -->TiltHitError</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82af1e30def87a60627a2084219b0721688"></a><!-- doxytag: member="PanTiltHitError" ref="a03eac2758d3132bd49c5a74c1e4dce82af1e30def87a60627a2084219b0721688" args="" -->PanTiltHitError</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82a4f5e377f09bf1b29d8edbea7530a489f"></a><!-- doxytag: member="MaxLimitError" ref="a03eac2758d3132bd49c5a74c1e4dce82a4f5e377f09bf1b29d8edbea7530a489f" args="" -->MaxLimitError</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82abbc252055358b6ba51121be06b6ce9ee"></a><!-- doxytag: member="MinLimitError" ref="a03eac2758d3132bd49c5a74c1e4dce82abbc252055358b6ba51121be06b6ce9ee" args="" -->MinLimitError</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82a055ce6c3358b869af6f639f7dc0e15ce"></a><!-- doxytag: member="OutOfRange" ref="a03eac2758d3132bd49c5a74c1e4dce82a055ce6c3358b869af6f639f7dc0e15ce" args="" -->OutOfRange</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82a6830e8712509a789d21911100871ca67"></a><!-- doxytag: member="IllegalCommandError" ref="a03eac2758d3132bd49c5a74c1e4dce82a6830e8712509a789d21911100871ca67" args="" -->IllegalCommandError</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a03eac2758d3132bd49c5a74c1e4dce82ad007c4e349ab064ff8967377a9360c51"></a><!-- doxytag: member="UnExpectedError" ref="a03eac2758d3132bd49c5a74c1e4dce82ad007c4e349ab064ff8967377a9360c51" args="" -->UnExpectedError</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00378">378</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
</div>
</div>
<a class="anchor" id="a943b068cc1c7b2d4f0b98751fb46d899"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::@45" ref="a943b068cc1c7b2d4f0b98751fb46d899" args="" -->
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<td class="memname">anonymous enum</td>
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</table>
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<div class="memdoc">
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a943b068cc1c7b2d4f0b98751fb46d899aacacace283bf52515fef2b7ab31ea2e4"></a><!-- doxytag: member="Pan" ref="a943b068cc1c7b2d4f0b98751fb46d899aacacace283bf52515fef2b7ab31ea2e4" args="" -->Pan</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a943b068cc1c7b2d4f0b98751fb46d899a01b6e0e48f88f997ca9352a832021157"></a><!-- doxytag: member="Tilt" ref="a943b068cc1c7b2d4f0b98751fb46d899a01b6e0e48f88f997ca9352a832021157" args="" -->Tilt</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00390">390</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
</div>
</div>
<a class="anchor" id="ac9fce1aa9ef3d1d122eef212460cc924"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::@46" ref="ac9fce1aa9ef3d1d122eef212460cc924" args="" -->
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<table class="memname">
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<td class="memname">anonymous enum</td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="ac9fce1aa9ef3d1d122eef212460cc924a62cc9189946f1c2c0a87d44acab03f12"></a><!-- doxytag: member="Regular" ref="ac9fce1aa9ef3d1d122eef212460cc924a62cc9189946f1c2c0a87d44acab03f12" args="" -->Regular</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="ac9fce1aa9ef3d1d122eef212460cc924a99bcc1b77991bfac31b9585833bb6a37"></a><!-- doxytag: member="High" ref="ac9fce1aa9ef3d1d122eef212460cc924a99bcc1b77991bfac31b9585833bb6a37" args="" -->High</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="ac9fce1aa9ef3d1d122eef212460cc924ab3c84b5729b3a82321a09eff7fa0d573"></a><!-- doxytag: member="Low" ref="ac9fce1aa9ef3d1d122eef212460cc924ab3c84b5729b3a82321a09eff7fa0d573" args="" -->Low</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="ac9fce1aa9ef3d1d122eef212460cc924a19c4d74ab3c84a85d003c562d75ab8f5"></a><!-- doxytag: member="Off" ref="ac9fce1aa9ef3d1d122eef212460cc924a19c4d74ab3c84a85d003c562d75ab8f5" args="" -->Off</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00391">391</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
</div>
</div>
<a class="anchor" id="a2def1667a0f0426f9b93802e61ce55da"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::@47" ref="a2def1667a0f0426f9b93802e61ce55da" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">anonymous enum</td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a2def1667a0f0426f9b93802e61ce55daaf9e5a1aa463eecf8a6cb8d44420e8096"></a><!-- doxytag: member="Com1" ref="a2def1667a0f0426f9b93802e61ce55daaf9e5a1aa463eecf8a6cb8d44420e8096" args="" -->Com1</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a2def1667a0f0426f9b93802e61ce55daa9512ac2c7c81c6332aa40376dce2248d"></a><!-- doxytag: member="Com2" ref="a2def1667a0f0426f9b93802e61ce55daa9512ac2c7c81c6332aa40376dce2248d" args="" -->Com2</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a2def1667a0f0426f9b93802e61ce55daa81cc7eca001025b91213f3ecd15a5c47"></a><!-- doxytag: member="Com3" ref="a2def1667a0f0426f9b93802e61ce55daa81cc7eca001025b91213f3ecd15a5c47" args="" -->Com3</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a2def1667a0f0426f9b93802e61ce55daa148b961b7a4500d641c29f164cbfba18"></a><!-- doxytag: member="Com4" ref="a2def1667a0f0426f9b93802e61ce55daa148b961b7a4500d641c29f164cbfba18" args="" -->Com4</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00392">392</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
</div>
</div>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a05de3743099f75a4c5954d4e56a71aa9"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::CPtuDPerception" ref="a05de3743099f75a4c5954d4e56a71aa9" args="()" -->
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<td class="memname">mrpt::hwdrivers::CPtuDPerception::CPtuDPerception </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Default constructor. </p>
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00050">50</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
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</div>
<a class="anchor" id="a3b7cd284e6ce9ddb227eee520404702a"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::~CPtuDPerception" ref="a3b7cd284e6ce9ddb227eee520404702a" args="()" -->
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<td class="memname">virtual mrpt::hwdrivers::CPtuDPerception::~CPtuDPerception </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Destructor. </p>
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00054">54</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a87fbc2f7ecb15d1ae2f1c1afd6602943"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::absPosQ" ref="a87fbc2f7ecb15d1ae2f1c1afd6602943" args="(char axis, double &nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::absPosQ </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> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query position in absolute terms. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a4a83a6de6e0ecb776b01c902ace23f0d">mrpt::hwdrivers::CPtuBase</a>.</p>
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</div>
<a class="anchor" id="a29799c65fc066b4de8c9a24b20a407e9"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::aceleration" ref="a29799c65fc066b4de8c9a24b20a407e9" args="(char axis, double radSec2)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::aceleration </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>radSec2</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Specification (de/a)celeration in turn. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ac3dc5d09a73674b0f2409b6e1cea8264">mrpt::hwdrivers::CPtuBase</a>.</p>
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</div>
<a class="anchor" id="abb8d1fa0accee73f77d05b1b5c8008f4"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::acelerationQ" ref="abb8d1fa0accee73f77d05b1b5c8008f4" args="(char axis, double &radSec2)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::acelerationQ </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>radSec2</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query (de/a)celeration in turn. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a320129d0616d13fd32b946c514dbc9ed">mrpt::hwdrivers::CPtuBase</a>.</p>
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</div>
<a class="anchor" id="a8be0b89f6e325423ac6df3b301083717"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::aWait" ref="a8be0b89f6e325423ac6df3b301083717" args="(void)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::aWait </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<div class="memdoc">
<p>Wait the finish of the last position command to continue accept commands. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#af767b0340ea3a1811464853345523061">mrpt::hwdrivers::CPtuBase</a>.</p>
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</div>
<a class="anchor" id="a07013673c56b8c7bc5951b2e41cf34b2"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::baseSpeed" ref="a07013673c56b8c7bc5951b2e41cf34b2" args="(char axis, double radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::baseSpeed </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> [virtual]</code></td>
</tr>
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<div class="memdoc">
<p>Specification of velocity to which start and finish the (de/a)celeration. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#aa2bceb5cb37224dea1d5df917bc0ff82">mrpt::hwdrivers::CPtuBase</a>.</p>
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</div>
<a class="anchor" id="a24a58d9c1c44f0a5e1e84ec4d3ba1e6a"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::baseSpeedQ" ref="a24a58d9c1c44f0a5e1e84ec4d3ba1e6a" args="(char axis, double &radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::baseSpeedQ </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> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query velocity to which start and finish the (de/a)celeration. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a280026236f54c10d5f5615d2862a9bdf">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a4530e0fc047dbee79eb4a5af21982f8e"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::changeMotionDir" ref="a4530e0fc047dbee79eb4a5af21982f8e" args="()" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::changeMotionDir </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a2351ea7e9b5bab6a253937494f6994f7">mrpt::hwdrivers::CPtuBase</a>.</p>
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</div>
<a class="anchor" id="ae281fd8febfe1ddca601759e5d1f2d2b"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::checkErrors" ref="ae281fd8febfe1ddca601759e5d1f2d2b" args="()" -->
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<td class="memname">virtual int mrpt::hwdrivers::CPtuDPerception::checkErrors </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Check errors, returns 0 if there are not errors or error code in otherwise Error codes: </p>
<div class="fragment"><pre class="fragment"> 1: Com error
2: Time out error
3: Init error
4: <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a943b068cc1c7b2d4f0b98751fb46d899aacacace283bf52515fef2b7ab31ea2e4">Pan</a> tilt hit error
5: <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a943b068cc1c7b2d4f0b98751fb46d899aacacace283bf52515fef2b7ab31ea2e4">Pan</a> hit error
6: <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a943b068cc1c7b2d4f0b98751fb46d899a01b6e0e48f88f997ca9352a832021157">Tilt</a> hit error
7: Max limit error
8: Min limit error
9: Out of range
10: Illegal command error
11: Unexpected error
</pre></div>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#abdc0c2c540614f09322958f658434f97">mrpt::hwdrivers::CPtuBase</a>.</p>
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</div>
<a class="anchor" id="a5b83a3c8d347c3d1f1c0870773dc5e59"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::clearErrors" ref="a5b83a3c8d347c3d1f1c0870773dc5e59" args="()" -->
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<td class="memname">virtual void mrpt::hwdrivers::CPtuDPerception::clearErrors </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Clear errors. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a807c7d9f010fbea656231c2df4b2f6b6">mrpt::hwdrivers::CPtuBase</a>.</p>
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00267">267</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
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</div>
<a class="anchor" id="ad1a9dc07ae9eb18c9adceaf0f7e550cc"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::close" ref="ad1a9dc07ae9eb18c9adceaf0f7e550cc" args="()" -->
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<td class="memname">virtual void mrpt::hwdrivers::CPtuDPerception::close </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Close conection with serial port. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a825be68ca81b49aa6eaa785e74f54aef">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a1b33ac92d3c6a356b62aa5f991c71668"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::comError" ref="a1b33ac92d3c6a356b62aa5f991c71668" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::comError </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00253">253</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
<p>References <a class="el" href="_c_ptu_d_perception_8h_source.html#l00378">ComError</a>.</p>
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<a class="anchor" id="ab1a3702ffdb4bd1e33b33b1ce8decca1"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::convertToDouble" ref="ab1a3702ffdb4bd1e33b33b1ce8decca1" args="(char *sDouble)" -->
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<td class="memname">virtual double mrpt::hwdrivers::CPtuDPerception::convertToDouble </td>
<td>(</td>
<td class="paramtype">char * </td>
<td class="paramname"><em>sDouble</em></td><td>)</td>
<td><code> [private, virtual]</code></td>
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<div class="memdoc">
<p>Convert string to double. </p>
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<a class="anchor" id="a11cfe4b14853284c220d3bf7d6a52dd8"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::convertToLong" ref="a11cfe4b14853284c220d3bf7d6a52dd8" args="(char *sLong)" -->
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<td class="memname">virtual long mrpt::hwdrivers::CPtuDPerception::convertToLong </td>
<td>(</td>
<td class="paramtype">char * </td>
<td class="paramname"><em>sLong</em></td><td>)</td>
<td><code> [private, virtual]</code></td>
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</table>
</div>
<div class="memdoc">
<p>Convert string to long. </p>
</div>
</div>
<a class="anchor" id="ac4744c80d06869a0b8088c5fc78849b7"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::echoMode" ref="ac4744c80d06869a0b8088c5fc78849b7" args="(bool mode)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::echoMode </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>mode</em></td><td>)</td>
<td><code> [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>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a6626bbf577b50bdc0b62aa7ccb8b654f">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a04a8479dfab18ba2f44832fce71fe56f"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::echoModeQ" ref="a04a8479dfab18ba2f44832fce71fe56f" args="(bool &mode)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::echoModeQ </td>
<td>(</td>
<td class="paramtype">bool & </td>
<td class="paramname"><em>mode</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Query echo mode. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a60733d27fd9d545a63020b3bbc655145">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a842f7f67fe025273496ef6e15b7f0d76"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::enableLimits" ref="a842f7f67fe025273496ef6e15b7f0d76" args="(bool set)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::enableLimits </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>set</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Enable/Disable movement limits. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#afcffbc565093cdc3be1d0654141da1e9">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a3552614bfa696ad2aca74da8063d1c0d"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::enableLimitsQ" ref="a3552614bfa696ad2aca74da8063d1c0d" args="(bool &enable)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::enableLimitsQ </td>
<td>(</td>
<td class="paramtype">bool & </td>
<td class="paramname"><em>enable</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<div class="memdoc">
<p>Query if exist movement limits. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a501fbf743b6bddf159d334df1b4bec9b">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="acac8d4b0499401813646462219b53ad7"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::halt" ref="acac8d4b0499401813646462219b53ad7" args="(char axis)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::halt </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Inmediately stop. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#aa9bd8b4d229276bca7977ed33c9eedbc">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a42a002bf19fba7ed251b4a7bfc08b206"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::haltAll" ref="a42a002bf19fba7ed251b4a7bfc08b206" args="()" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::haltAll </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Inmediately stop all. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a768b53f1cf0c3773d86a614a700e467e">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="ac984a95f90dc5cfe81407b62172db200"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::illegalCommandError" ref="ac984a95f90dc5cfe81407b62172db200" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::illegalCommandError </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00262">262</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
<p>References <a class="el" href="_c_ptu_d_perception_8h_source.html#l00381">IllegalCommandError</a>.</p>
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<a class="anchor" id="a5dbdbb4c54aad6c1e75365b18d2e2b8f"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::init" ref="a5dbdbb4c54aad6c1e75365b18d2e2b8f" args="(const std::string port)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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> [virtual]</code></td>
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<p>PTU and serial port initialization. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#add93e32cdec76f98517c9891b348abbf">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a35549a061963e22f03a5009da8d597e7"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::initError" ref="a35549a061963e22f03a5009da8d597e7" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::initError </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00255">255</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
<p>References <a class="el" href="_c_ptu_d_perception_8h_source.html#l00379">InitError</a>.</p>
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<a class="anchor" id="ab012a95c6e5c772a1907ca56702bf7f3"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::inmediateExecution" ref="ab012a95c6e5c772a1907ca56702bf7f3" args="(bool set)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::inmediateExecution </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>set</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<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 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a943b068cc1c7b2d4f0b98751fb46d899aacacace283bf52515fef2b7ab31ea2e4">Pan</a> position is 0
TP * Current <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a943b068cc1c7b2d4f0b98751fb46d899a01b6e0e48f88f997ca9352a832021157">Tilt</a> position is 0
A *
PP * Current <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a943b068cc1c7b2d4f0b98751fb46d899aacacace283bf52515fef2b7ab31ea2e4">Pan</a> position is 1500
TP * Current <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a943b068cc1c7b2d4f0b98751fb46d899a01b6e0e48f88f997ca9352a832021157">Tilt</a> position is -900
</pre></div>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ab0c9b28b77de0aa452b51a62fc40fe11">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a0c16c40e4f8bac12897bb65090fceead"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::lowerSpeed" ref="a0c16c40e4f8bac12897bb65090fceead" args="(char axis, double radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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>
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<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Specification of velocity lower limit. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a307bf7cb38c71d71ccd5795854b91a88">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a3e04f5bb2ea86a4bc919f7b7fcfa327a"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::lowerSpeedQ" ref="a3e04f5bb2ea86a4bc919f7b7fcfa327a" args="(char axis, double &radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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>
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<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Query velocity lower limit. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ae121992b60fe536bad86abe0dcc911b0">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="ac77ad44b7459fdfa3df15b8fbcf0d0e4"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::maxLimitError" ref="ac77ad44b7459fdfa3df15b8fbcf0d0e4" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::maxLimitError </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00259">259</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
<p>References <a class="el" href="_c_ptu_d_perception_8h_source.html#l00380">MaxLimitError</a>.</p>
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<a class="anchor" id="acecb0ac09a110fa1c601bfb4b61ef563"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::maxPosQ" ref="acecb0ac09a110fa1c601bfb4b61ef563" args="(char axis, double &nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::maxPosQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Query max movement limit of a axis in absolute terms. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a8283b9865b1addf6dfea35b95af199ee">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a48b24fa5e7ef20411743169498ad6f5d"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::minLimitError" ref="a48b24fa5e7ef20411743169498ad6f5d" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::minLimitError </td>
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<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00260">260</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
<p>References <a class="el" href="_c_ptu_d_perception_8h_source.html#l00380">MinLimitError</a>.</p>
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<a class="anchor" id="a4dc45d833c99be66a67265dd79e01689"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::minPosQ" ref="a4dc45d833c99be66a67265dd79e01689" args="(char axis, double &nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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>
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<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Query min movement limit of a axis in absolute terms. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a5ed07aa796c8c6233b1dae938bc1d09c">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a35f206d1436f9e0264bc9e7cd24428b5"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::moveToAbsPos" ref="a35f206d1436f9e0264bc9e7cd24428b5" args="(char axis, double nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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> [virtual]</code></td>
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<p>Specification of positions in absolute terms. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a34b6428bbf36b6607d923af8a8e0b080">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a0ad438792c7bd8bae0c56981b80861b8"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::moveToOffPos" ref="a0ad438792c7bd8bae0c56981b80861b8" args="(char axis, double nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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>
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<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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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 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a943b068cc1c7b2d4f0b98751fb46d899a01b6e0e48f88f997ca9352a832021157">Tilt</a> position is -500
TO500 *
A *
TT * Current <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a943b068cc1c7b2d4f0b98751fb46d899aacacace283bf52515fef2b7ab31ea2e4">Pan</a> position is 1000
</pre></div>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a47aa12f1259ce7109da1ba58a6dd7412">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a14f9ef2d64ebf9e94b28d6958a1cc251"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::noError" ref="a14f9ef2d64ebf9e94b28d6958a1cc251" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::noError </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00252">252</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
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<a class="anchor" id="a534524ffcdca39ca45c5a5c37c0422f1"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::nversion" ref="a534524ffcdca39ca45c5a5c37c0422f1" args="(double &nVersion)" -->
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<td class="memname">virtual void mrpt::hwdrivers::CPtuDPerception::nversion </td>
<td>(</td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nVersion</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Number of version. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a27b054f294a8069576d61fa7415f940b">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a15c719c9857fc980f26b4e9bd37d9a88"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::offPosQ" ref="a15c719c9857fc980f26b4e9bd37d9a88" args="(char axis, double &nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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>
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<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Query position in relative terms. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a675c7a250848401469a145ca2aadf348">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a5678c521631c7db7dee4d8769c142f64"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::outOfRange" ref="a5678c521631c7db7dee4d8769c142f64" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::outOfRange </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00261">261</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
<p>References <a class="el" href="_c_ptu_d_perception_8h_source.html#l00380">OutOfRange</a>.</p>
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<a class="anchor" id="afcac535d2a732df91afd1eaafe02478d"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::panHitError" ref="afcac535d2a732df91afd1eaafe02478d" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::panHitError </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00257">257</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
<p>References <a class="el" href="_c_ptu_d_perception_8h_source.html#l00379">PanHitError</a>.</p>
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<a class="anchor" id="a2c3d0acd87a75299efa59ed20b0a3c14"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::panTiltHitError" ref="a2c3d0acd87a75299efa59ed20b0a3c14" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::panTiltHitError </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00256">256</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
<p>References <a class="el" href="_c_ptu_d_perception_8h_source.html#l00379">PanTiltHitError</a>.</p>
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<a class="anchor" id="aac974ff56102533ddbb31de551aaa668"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::posToRad" ref="aac974ff56102533ddbb31de551aaa668" args="(char axis, long nPos)" -->
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<td class="memname">virtual double mrpt::hwdrivers::CPtuDPerception::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>
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<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>To obtain the number of radians for a discrete value. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a7645f0bbb0dccb4c0b749b74ab5d3d71">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a17bfabf1201ce761f0d28190b8b88f48"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::powerMode" ref="a17bfabf1201ce761f0d28190b8b88f48" args="(bool transit, char mode)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::powerMode </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>transit</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>mode</em> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Specification of power mode. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a12cbeaa142f619fdd1fc37f42ca654f7">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="aadff6550cf61db4efd35143b66af1da3"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::powerModeQ" ref="aadff6550cf61db4efd35143b66af1da3" args="(bool transit, char &mode)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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>
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<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Query power mode. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a6a2a9e4f6b2e6e996e45177a893e652a">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a314039025a3425fba35cf19c27004137"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::radAsign" ref="a314039025a3425fba35cf19c27004137" args="(char axis, char command, double nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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>
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<td></td>
<td>)</td>
<td></td><td><code> [private, virtual]</code></td>
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<p>Method used for asign a number of radians with a command. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a5d9ee4bc072fad60e8f22a3988f8d3b7">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a925396cdea324fa0c858b998cc98b89f"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::radError" ref="a925396cdea324fa0c858b998cc98b89f" args="(char axis, double nRadMoved)" -->
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<td class="memname">virtual double mrpt::hwdrivers::CPtuDPerception::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>
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<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<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>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ac1fc9095265cc28bffb16bdceb078ca5">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a1f9a5c7c6da74291fcdabb175a0d145b"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::radQuerry" ref="a1f9a5c7c6da74291fcdabb175a0d145b" args="(char axis, char command, double &nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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>
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<td></td>
<td>)</td>
<td></td><td><code> [private, virtual]</code></td>
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<div class="memdoc">
<p>Used to obtains a number of radians. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a2011e6d71a525d0e2db8ded4262cbbb2">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="ab579233c8836b12e6cde3dedcb1c49d1"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::radToPos" ref="ab579233c8836b12e6cde3dedcb1c49d1" args="(char axis, double nRad)" -->
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<td class="memname">virtual long mrpt::hwdrivers::CPtuDPerception::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> [virtual]</code></td>
</tr>
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<div class="memdoc">
<p>To obtain the discrete value for a number of radians. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#af58985af2f79f236db417d250b2a268b">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="aa69bea6facdff727fd6a87e4f9d19e86"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::rangeMeasure" ref="aa69bea6facdff727fd6a87e4f9d19e86" args="()" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::rangeMeasure </td>
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<td><code> [virtual]</code></td>
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<p>Search limit forward. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a7f8908698d38d41007625ea299d02c3f">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="acdf142a89e9f7eaf2fb5a0efa7a0cd2d"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::receive" ref="acdf142a89e9f7eaf2fb5a0efa7a0cd2d" args="(const char *command, char *response)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::receive </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>command</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">char * </td>
<td class="paramname"><em>response</em> </td>
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<td>)</td>
<td></td><td><code> [private, virtual]</code></td>
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<p>To receive the responseof the PTU. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ad2b79121511cf52a6392bc6a2070ad17">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a97d3b7f2a58b2e77c09cccaef95948a2"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::reset" ref="a97d3b7f2a58b2e77c09cccaef95948a2" args="(void)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::reset </td>
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<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Reset PTU to initial state. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a7577699de9ae0eb6c48d9dc804833406">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a47caf88a0007be73cf46825a513e4367"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::resolution" ref="a47caf88a0007be73cf46825a513e4367" args="(void)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::resolution </td>
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<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Query the pan and tilt resolution per position moved and initialize local atributes. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a39a7a1329b612b4d092022378ab96b2a">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a4fe12aa91d4d72b1fca56a574038e11d"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::restoreDefaults" ref="a4fe12aa91d4d72b1fca56a574038e11d" args="(void)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::restoreDefaults </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
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<div class="memdoc">
<p>Restore default values. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ac71b7655727b54ffbcf7e985eb556da0">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a296862d59a2f240ccb8c236c303b92dc"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::restoreFactoryDefaults" ref="a296862d59a2f240ccb8c236c303b92dc" args="(void)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::restoreFactoryDefaults </td>
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<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Restore factory default values. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ad91da7942124b601e9396af1a3590ca4">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="aacd4ae7855dea6848a32b629bbb323d5"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::save" ref="aacd4ae7855dea6848a32b629bbb323d5" args="(void)" -->
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<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Save or restart default values. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a545ace77b0c6298c13cbb26825f9adb5">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="a090f094ed93ed87a5a22ba0b2cbcbada"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::scan" ref="a090f094ed93ed87a5a22ba0b2cbcbada" args="(char axis, int wait, float initial, float final, double radPre)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Performs a scan in the axis indicated and whit the precision desired. </p>
<p><br/>
</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname"><axis></td><td>{Pan or Till} <br/>
</td></tr>
<tr><td class="paramname"><tWait></td><td>{Wait time betwen commands} <br/>
</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>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a53a862f2e1374fbe334f9f2f9c13184e">mrpt::hwdrivers::CPtuBase</a>.</p>
</div>
</div>
<a class="anchor" id="ad68f07c8769fe196b951b0ffb6be0f83"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::setLimits" ref="ad68f07c8769fe196b951b0ffb6be0f83" args="(char axis, double &l, double &u)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set limits of movement. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ab6f66705c2e84470bd3c4e4e8839cc40">mrpt::hwdrivers::CPtuBase</a>.</p>
</div>
</div>
<a class="anchor" id="a97488d60a94ee948ee432ef1921158ce"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::speed" ref="a97488d60a94ee948ee432ef1921158ce" args="(char axis, double radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Specification of turn speed. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a93681296934c6f17e6788eb2236a179e">mrpt::hwdrivers::CPtuBase</a>.</p>
</div>
</div>
<a class="anchor" id="a42a6c1d9c85010dcdbe8399d5dae2b87"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::speedQ" ref="a42a6c1d9c85010dcdbe8399d5dae2b87" args="(char axis, double &radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::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> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query turn speed. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ad176c45be34a88173c5f8f3697685c22">mrpt::hwdrivers::CPtuBase</a>.</p>
</div>
</div>
<a class="anchor" id="adb9a6d080ee06598076ee2e13f642fa3"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::status" ref="adb9a6d080ee06598076ee2e13f642fa3" args="(double &rad)" -->
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<td class="memname">virtual double mrpt::hwdrivers::CPtuDPerception::status </td>
<td>(</td>
<td class="paramtype">double & </td>
<td class="paramname"><em>rad</em></td><td>)</td>
<td><code> [inline, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Check if ptu is moving. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ab657d008a6fc5127fa0ba0495b0b195c">mrpt::hwdrivers::CPtuBase</a>.</p>
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00220">220</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
</div>
</div>
<a class="anchor" id="a65ef596b364608ebc5e72f117bb22503"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::tiltHitError" ref="a65ef596b364608ebc5e72f117bb22503" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::tiltHitError </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00258">258</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
<p>References <a class="el" href="_c_ptu_d_perception_8h_source.html#l00379">TiltHitError</a>.</p>
</div>
</div>
<a class="anchor" id="a7426d329bc6da9043d799d387ea4bb93"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::timeoutError" ref="a7426d329bc6da9043d799d387ea4bb93" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::timeoutError </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00254">254</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
<p>References <a class="el" href="_c_ptu_d_perception_8h_source.html#l00378">TimeoutError</a>.</p>
</div>
</div>
<a class="anchor" id="a5fa696f2bc375d1fae81fb522b3e7899"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::transmit" ref="a5fa696f2bc375d1fae81fb522b3e7899" args="(const char *command)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::transmit </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>command</em></td><td>)</td>
<td><code> [private, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>To transmition commands to the PTU. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a54b6b157f75974c166c557e872ccff69">mrpt::hwdrivers::CPtuBase</a>.</p>
</div>
</div>
<a class="anchor" id="a1d1b56c6bd17b341366806ba6c63bec3"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::unExpectedError" ref="a1d1b56c6bd17b341366806ba6c63bec3" args="()" -->
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<td class="memname">bool mrpt::hwdrivers::CPtuDPerception::unExpectedError </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00263">263</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
<p>References <a class="el" href="_c_ptu_d_perception_8h_source.html#l00381">UnExpectedError</a>.</p>
</div>
</div>
<a class="anchor" id="ad01f781e7ca1793dc06d560482691c61"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::upperSpeed" ref="ad01f781e7ca1793dc06d560482691c61" args="(char axis, double radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::upperSpeed </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> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Specification of velocity upper limit. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#adbd8ccb5c8b0a9fa344717fb64fd77c9">mrpt::hwdrivers::CPtuBase</a>.</p>
</div>
</div>
<a class="anchor" id="aba3691cd7a8114a9327384e994b86373"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::upperSpeedQ" ref="aba3691cd7a8114a9327384e994b86373" args="(char axis, double &radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::upperSpeedQ </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> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query velocity upper limit. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ab305ea24462568da6b48544193d7e732">mrpt::hwdrivers::CPtuBase</a>.</p>
</div>
</div>
<a class="anchor" id="a5cf7b30547aaebddc6c68e6b1b9ad4c6"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::verbose" ref="a5cf7b30547aaebddc6c68e6b1b9ad4c6" args="(bool set)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::verbose </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>set</em></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#ac787226a0c77003cab4e810999fb3a37">mrpt::hwdrivers::CPtuBase</a>.</p>
</div>
</div>
<a class="anchor" id="ad15fcf520bf91fc0493c241f8bc43edc"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::verboseQ" ref="ad15fcf520bf91fc0493c241f8bc43edc" args="(bool &modo)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::verboseQ </td>
<td>(</td>
<td class="paramtype">bool & </td>
<td class="paramname"><em>modo</em></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Query verbose mode. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a7fc257cf361137cf851075c159e2d360">mrpt::hwdrivers::CPtuBase</a>.</p>
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<a class="anchor" id="ad431e00a4cbef00bd158721cfb88867d"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::version" ref="ad431e00a4cbef00bd158721cfb88867d" args="(char *nVersion)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CPtuDPerception::version </td>
<td>(</td>
<td class="paramtype">char * </td>
<td class="paramname"><em>nVersion</em></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Version and CopyRights. </p>
<p>Implements <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_base.html#a4e46fddbae2375762e58881c901cee25">mrpt::hwdrivers::CPtuBase</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a6bfd6ecef108a33ecc181f2e9a7497e0"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::nError" ref="a6bfd6ecef108a33ecc181f2e9a7497e0" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_ptu_d_perception.html#a6bfd6ecef108a33ecc181f2e9a7497e0">mrpt::hwdrivers::CPtuDPerception::nError</a></td>
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<div class="memdoc">
<p>TimeoutError: Only occurs if the communication is cut with PTU so it is advisable to check the connection and initialize again the comunication. </p>
<p>Definition at line <a class="el" href="_c_ptu_d_perception_8h_source.html#l00388">388</a> of file <a class="el" href="_c_ptu_d_perception_8h_source.html">CPtuDPerception.h</a>.</p>
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<a class="anchor" id="a5fa468ccf03732f24cad2f78c1fefaef"></a><!-- doxytag: member="mrpt::hwdrivers::CPtuDPerception::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><code> [inherited]</code></td>
</tr>
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<div class="memdoc">
<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::CPtuDPerception::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, inherited]</code></td>
</tr>
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<div class="memdoc">
<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::CPtuDPerception::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><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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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</div>
</div>
<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>
