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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::hwdrivers::CTuMicos 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::CTuMicos" --><!-- doxytag: inherits="mrpt::hwdrivers::CPtuBase,mrpt::utils::CDebugOutputCapable" --><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 Tilt Unit model DT-80, working in radians . </p>
</div>
<p><code>#include <<a class="el" href="_c_tu_micos_8h_source.html">mrpt/hwdrivers/CTuMicos.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CTuMicos:</div>
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<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_tu_micos__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_tu_micos_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_tu_micos_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_tu_micos_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="5,5,184,32"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html" title="This base class provides a common printf-like method to send debug information to std::cout..." alt="" coords="209,5,431,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hwdrivers_1_1_c_tu_micos-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#afbf29c8091ecf671fec479eaad897605">CTuMicos</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#afbf29c8091ecf671fec479eaad897605"></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_tu_micos.html#a942f6a6e961db8af07d5ed78f6aea254">~CTuMicos</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a942f6a6e961db8af07d5ed78f6aea254"></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_tu_micos.html#ac4eb58b9cedbce222835445a24509bd4">rangeMeasure</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Search limit forward. <a href="#ac4eb58b9cedbce222835445a24509bd4"></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_tu_micos.html#a0ce0953ffc27b2f3b2691386258c78e8">moveToAbsPos</a> (char axis, double nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of positions in absolute terms. <a href="#a0ce0953ffc27b2f3b2691386258c78e8"></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_tu_micos.html#af0d3c6f1c8a40b39f848e6f969f3d51c">absPosQ</a> (char axis, double &nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query position in absolute terms. <a href="#af0d3c6f1c8a40b39f848e6f969f3d51c"></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_tu_micos.html#a277edd8d65889dff116deb059bad0df5">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="#a277edd8d65889dff116deb059bad0df5"></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_tu_micos.html#ad985079d72db2689055b8f6736f6a9a9">offPosQ</a> (char axis, double &nRad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query position in relative terms. <a href="#ad985079d72db2689055b8f6736f6a9a9"></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_tu_micos.html#a76d884769177f035cffa3ce37b9a7ce9">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="#a76d884769177f035cffa3ce37b9a7ce9"></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_tu_micos.html#ab83fd9031a673de250147708897e6e4d">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="#ab83fd9031a673de250147708897e6e4d"></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_tu_micos.html#a097a4d10a069974d28b051e581a4b846">enableLimitsQ</a> (bool &enable)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query if exist movement limits. <a href="#a097a4d10a069974d28b051e581a4b846"></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_tu_micos.html#ad6c8ec5bb968b1d837b33981ed4b71df">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="#ad6c8ec5bb968b1d837b33981ed4b71df"></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_tu_micos.html#aef64ad74121ddc0a9b70b5457df22d89">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="#aef64ad74121ddc0a9b70b5457df22d89"></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_tu_micos.html#afd6bb6b0ed82f8bc3414d737b6f11c96">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="#afd6bb6b0ed82f8bc3414d737b6f11c96"></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_tu_micos.html#a6bf6814d3501afce06adcbb866df2ade">haltAll</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Inmediately stop all. <a href="#a6bf6814d3501afce06adcbb866df2ade"></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_tu_micos.html#a4eb49d4f2cb3c90892ee4b7d39b74907">halt</a> (char axis)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Inmediately stop. <a href="#a4eb49d4f2cb3c90892ee4b7d39b74907"></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_tu_micos.html#a51b1a3055853b3845e9779292001ddf6">speed</a> (char axis, double radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of turn speed. <a href="#a51b1a3055853b3845e9779292001ddf6"></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_tu_micos.html#aae46952a2c267541c2126be0a9ef9330">speedQ</a> (char axis, double &radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query turn speed. <a href="#aae46952a2c267541c2126be0a9ef9330"></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_tu_micos.html#ae46ede85a5548bc6186b98286b2cd4ac">aceleration</a> (char axis, double radSec2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification (de/a)celeration in turn. <a href="#ae46ede85a5548bc6186b98286b2cd4ac"></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_tu_micos.html#aa53092b23b2da1466e6956ebdb5cc09f">acelerationQ</a> (char axis, double &radSec2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query (de/a)celeration in turn. <a href="#aa53092b23b2da1466e6956ebdb5cc09f"></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_tu_micos.html#aa31c4283db84e88d1616f8fb62c28781">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="#aa31c4283db84e88d1616f8fb62c28781"></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_tu_micos.html#a1be3b8f5f2be78ea7d841bdc4ff2d79a">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="#a1be3b8f5f2be78ea7d841bdc4ff2d79a"></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_tu_micos.html#aa921ec82ce4f2b7f3770ff7e490427ec">upperSpeed</a> (char axis, double radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of velocity upper limit. <a href="#aa921ec82ce4f2b7f3770ff7e490427ec"></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_tu_micos.html#ab49c3eb1623f89d054b57239c561f147">upperSpeedQ</a> (char axis, double &radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query velocity upper limit. <a href="#ab49c3eb1623f89d054b57239c561f147"></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_tu_micos.html#a2ae07aab37a5d2b88d8b69a7b5436ca1">lowerSpeed</a> (char axis, double radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of velocity lower limit. <a href="#a2ae07aab37a5d2b88d8b69a7b5436ca1"></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_tu_micos.html#ae9fd4a92fee30a07e2fac294d11590ec">lowerSpeedQ</a> (char axis, double &radSec)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query velocity lower limit. <a href="#ae9fd4a92fee30a07e2fac294d11590ec"></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_tu_micos.html#ab57668f92f293144f879690eb7a1caf0">reset</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reset PTU to initial state. <a href="#ab57668f92f293144f879690eb7a1caf0"></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_tu_micos.html#ab75173bdd00c7362eb865238e79638b0">save</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save or restart default values. <a href="#ab75173bdd00c7362eb865238e79638b0"></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_tu_micos.html#a84fec14614283d70800af18eccd36395">restoreDefaults</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Restore default values. <a href="#a84fec14614283d70800af18eccd36395"></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_tu_micos.html#a598a3fd355152a89506ae34162e20d11">restoreFactoryDefaults</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Restore factory default values. <a href="#a598a3fd355152a89506ae34162e20d11"></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_tu_micos.html#afbac933dd1480c00d5e031c6ec690600">version</a> (char *nVersion)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Version and CopyRights. <a href="#afbac933dd1480c00d5e031c6ec690600"></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_tu_micos.html#a526a9323e71d822cac5ca72646598653">nversion</a> (double &nVersion)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of version. <a href="#a526a9323e71d822cac5ca72646598653"></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_tu_micos.html#a72446197e15f760361cdf81a668878a4">powerModeQ</a> (bool transit, char &mode)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query power mode. <a href="#a72446197e15f760361cdf81a668878a4"></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_tu_micos.html#ab7d37a69c8dec096af822493c49f1d68">powerMode</a> (bool transit, char mode)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specification of power mode. <a href="#ab7d37a69c8dec096af822493c49f1d68"></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_tu_micos.html#aa02bdafc67362abc59c2140e9d8195e0">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear controller internal stack. <a href="#aa02bdafc67362abc59c2140e9d8195e0"></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_tu_micos.html#af30bc920dc40cbafed4c458c299569ec">setLimits</a> (char axis, double &l, double &u)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set limits of movement. <a href="#af30bc920dc40cbafed4c458c299569ec"></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_tu_micos.html#a07b8be7a9c66408febcfda2a696775b7">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_tu_micos.html#a48ad6c5b4c823aa1504b6637728360d3">checkErrors</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check errors, returns 0 if there are not errors or error code otherwise. <a href="#a48ad6c5b4c823aa1504b6637728360d3"></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_tu_micos.html#a10a1866b626ef6ed3df451926f617223">clearErrors</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear errors. <a href="#a10a1866b626ef6ed3df451926f617223"></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_tu_micos.html#a3455b247dd08f97c39214651394f2883">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="#a3455b247dd08f97c39214651394f2883"></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_tu_micos.html#a27b2d6aa6240f2525eeb6a5c6bfe2c27">close</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Close conection with serial port. <a href="#a27b2d6aa6240f2525eeb6a5c6bfe2c27"></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_tu_micos.html#aa90d19471d42e173d999afd4d788c66c">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="#aa90d19471d42e173d999afd4d788c66c"></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_tu_micos.html#a445c1bd9b5512459f9f7a8d55c230ed2">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="#a445c1bd9b5512459f9f7a8d55c230ed2"></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_tu_micos.html#af79d50778d228dfe13086a08c98c17b9">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="#af79d50778d228dfe13086a08c98c17b9"></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_tu_micos.html#a69f962a60ecde07e073aa3c2d346c407">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="#a69f962a60ecde07e073aa3c2d346c407"></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_tu_micos.html#a7f980de3432df40e4965efb9377f2622">verboseQ</a> (bool &modo)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query verbose mode. <a href="#a7f980de3432df40e4965efb9377f2622"></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_tu_micos.html#ac34166a73e4514e7e7b039fb1c230216">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="#ac34166a73e4514e7e7b039fb1c230216"></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_tu_micos.html#aa5c87f901e8997ab4b84dec99e082510">echoModeQ</a> (bool &mode)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Query echo mode. <a href="#aa5c87f901e8997ab4b84dec99e082510"></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_tu_micos.html#a153b570aa33ea8ca3aeca7cd8dee7834">echoMode</a> (bool mode)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enable/Disable echo response with command. <a href="#a153b570aa33ea8ca3aeca7cd8dee7834"></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_tu_micos.html#ac7ac06f87c96bb97f91b5696789aa6f0">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="#ac7ac06f87c96bb97f91b5696789aa6f0"></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_tu_micos.html#aa0754c7c5b2e21b2fc0a7adc05e0da19">status</a> (double &rad)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if ptu is moving. <a href="#aa0754c7c5b2e21b2fc0a7adc05e0da19"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html#ab78281b5d70d6e295a8527a10fea66de">printf_debug</a> (const char *frmt,...)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sends a formated text to "debugOut" if not NULL, or to cout otherwise. <a href="#ab78281b5d70d6e295a8527a10fea66de"></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_tu_micos.html#a5536b77c478ec9724092269acce4dd13">axis_index</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#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_tu_micos.html#a1a9a01135f0586918fc9d7b04e203cf0">transmit</a> (const char *command)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To transmition commands to the PTU. <a href="#a1a9a01135f0586918fc9d7b04e203cf0"></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_tu_micos.html#a2c692af93f7418223d05b02aa1d68e40">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="#a2c692af93f7418223d05b02aa1d68e40"></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_tu_micos.html#a93d6c21c9bae621f8c97e30a66a07baa">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="#a93d6c21c9bae621f8c97e30a66a07baa"></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_tu_micos.html#a382dee07e9c92b3f1d6b1db18a986303">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="#a382dee07e9c92b3f1d6b1db18a986303"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-static-methods"></a>
Static Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#abff4411e18d104f62c7ffd6601c407d0">convertToDouble</a> (char *sDouble)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Convert string to double. <a href="#abff4411e18d104f62c7ffd6601c407d0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static long </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#ad9d2bd7ee0a0a816abfdf2a56cf0f636">convertToLong</a> (char *sLong)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Convert string to long. <a href="#ad9d2bd7ee0a0a816abfdf2a56cf0f636"></a><br/></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="afbf29c8091ecf671fec479eaad897605"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::CTuMicos" ref="afbf29c8091ecf671fec479eaad897605" args="()" -->
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<td class="memname">mrpt::hwdrivers::CTuMicos::CTuMicos </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Default constructor. </p>
<p>Definition at line <a class="el" href="_c_tu_micos_8h_source.html#l00051">51</a> of file <a class="el" href="_c_tu_micos_8h_source.html">CTuMicos.h</a>.</p>
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<a class="anchor" id="a942f6a6e961db8af07d5ed78f6aea254"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::~CTuMicos" ref="a942f6a6e961db8af07d5ed78f6aea254" args="()" -->
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<td class="memname">virtual mrpt::hwdrivers::CTuMicos::~CTuMicos </td>
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<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
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<p>Destructor. </p>
<p>Definition at line <a class="el" href="_c_tu_micos_8h_source.html#l00055">55</a> of file <a class="el" href="_c_tu_micos_8h_source.html">CTuMicos.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="af0d3c6f1c8a40b39f848e6f969f3d51c"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::absPosQ" ref="af0d3c6f1c8a40b39f848e6f969f3d51c" args="(char axis, double &nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::absPosQ </td>
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<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">double & </td>
<td class="paramname"><em>nRad</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<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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<a class="anchor" id="ae46ede85a5548bc6186b98286b2cd4ac"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::aceleration" ref="ae46ede85a5548bc6186b98286b2cd4ac" args="(char axis, double radSec2)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::aceleration </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>radSec2</em> </td>
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<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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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::acelerationQ </td>
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<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
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<td class="paramtype">double & </td>
<td class="paramname"><em>radSec2</em> </td>
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<td></td><td><code> [virtual]</code></td>
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<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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<a class="anchor" id="afd6bb6b0ed82f8bc3414d737b6f11c96"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::aWait" ref="afd6bb6b0ed82f8bc3414d737b6f11c96" args="(void)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::aWait </td>
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<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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<a class="anchor" id="aa31c4283db84e88d1616f8fb62c28781"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::baseSpeed" ref="aa31c4283db84e88d1616f8fb62c28781" args="(char axis, double radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::baseSpeed </td>
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<td class="paramname"><em>radSec</em> </td>
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<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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<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="a07b8be7a9c66408febcfda2a696775b7"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::changeMotionDir" ref="a07b8be7a9c66408febcfda2a696775b7" args="()" -->
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<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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<a class="anchor" id="a48ad6c5b4c823aa1504b6637728360d3"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::checkErrors" ref="a48ad6c5b4c823aa1504b6637728360d3" args="()" -->
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<td class="memname">virtual int mrpt::hwdrivers::CTuMicos::checkErrors </td>
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<p>Check errors, returns 0 if there are not errors or error code otherwise. </p>
<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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<p>Clear controller internal stack. </p>
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<td class="memname">virtual void mrpt::hwdrivers::CTuMicos::clearErrors </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
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</table>
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<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_tu_micos_8h_source.html#l00238">238</a> of file <a class="el" href="_c_tu_micos_8h_source.html">CTuMicos.h</a>.</p>
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<a class="anchor" id="a27b2d6aa6240f2525eeb6a5c6bfe2c27"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::close" ref="a27b2d6aa6240f2525eeb6a5c6bfe2c27" args="()" -->
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<td class="memname">virtual void mrpt::hwdrivers::CTuMicos::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="abff4411e18d104f62c7ffd6601c407d0"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::convertToDouble" ref="abff4411e18d104f62c7ffd6601c407d0" args="(char *sDouble)" -->
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<td class="memname">static double mrpt::hwdrivers::CTuMicos::convertToDouble </td>
<td>(</td>
<td class="paramtype">char * </td>
<td class="paramname"><em>sDouble</em></td><td>)</td>
<td><code> [static, private]</code></td>
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<div class="memdoc">
<p>Convert string to double. </p>
</div>
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<a class="anchor" id="ad9d2bd7ee0a0a816abfdf2a56cf0f636"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::convertToLong" ref="ad9d2bd7ee0a0a816abfdf2a56cf0f636" args="(char *sLong)" -->
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<td class="memname">static long mrpt::hwdrivers::CTuMicos::convertToLong </td>
<td>(</td>
<td class="paramtype">char * </td>
<td class="paramname"><em>sLong</em></td><td>)</td>
<td><code> [static, private]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Convert string to long. </p>
</div>
</div>
<a class="anchor" id="a153b570aa33ea8ca3aeca7cd8dee7834"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::echoMode" ref="a153b570aa33ea8ca3aeca7cd8dee7834" args="(bool mode)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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="aa5c87f901e8997ab4b84dec99e082510"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::echoModeQ" ref="aa5c87f901e8997ab4b84dec99e082510" args="(bool &mode)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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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<div class="memdoc">
<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="ad6c8ec5bb968b1d837b33981ed4b71df"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::enableLimits" ref="ad6c8ec5bb968b1d837b33981ed4b71df" args="(bool set)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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="a097a4d10a069974d28b051e581a4b846"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::enableLimitsQ" ref="a097a4d10a069974d28b051e581a4b846" args="(bool &enable)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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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<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="a4eb49d4f2cb3c90892ee4b7d39b74907"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::halt" ref="a4eb49d4f2cb3c90892ee4b7d39b74907" args="(char axis)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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="a6bf6814d3501afce06adcbb866df2ade"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::haltAll" ref="a6bf6814d3501afce06adcbb866df2ade" args="()" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::haltAll </td>
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<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="a3455b247dd08f97c39214651394f2883"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::init" ref="a3455b247dd08f97c39214651394f2883" args="(const std::string port)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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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<div class="memdoc">
<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="aef64ad74121ddc0a9b70b5457df22d89"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::inmediateExecution" ref="aef64ad74121ddc0a9b70b5457df22d89" args="(bool set)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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 Pan position is 0
TP * Current Tilt position is 0
A *
PP * Current Pan position is 1500
TP * Current Tilt position is -900
</pre></div>
<p>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="a2ae07aab37a5d2b88d8b69a7b5436ca1"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::lowerSpeed" ref="a2ae07aab37a5d2b88d8b69a7b5436ca1" args="(char axis, double radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::lowerSpeed </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>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="ae9fd4a92fee30a07e2fac294d11590ec"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::lowerSpeedQ" ref="ae9fd4a92fee30a07e2fac294d11590ec" args="(char axis, double &radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::lowerSpeedQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>radSec</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [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="a76d884769177f035cffa3ce37b9a7ce9"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::maxPosQ" ref="a76d884769177f035cffa3ce37b9a7ce9" args="(char axis, double &nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::maxPosQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [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="ab83fd9031a673de250147708897e6e4d"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::minPosQ" ref="ab83fd9031a673de250147708897e6e4d" args="(char axis, double &nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::minPosQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [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="a0ce0953ffc27b2f3b2691386258c78e8"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::moveToAbsPos" ref="a0ce0953ffc27b2f3b2691386258c78e8" args="(char axis, double nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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="a277edd8d65889dff116deb059bad0df5"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::moveToOffPos" ref="a277edd8d65889dff116deb059bad0df5" args="(char axis, double nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::moveToOffPos </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [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 Tilt position is -500
TO500 *
A *
TT * Current Pan 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="a526a9323e71d822cac5ca72646598653"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::nversion" ref="a526a9323e71d822cac5ca72646598653" args="(double &nVersion)" -->
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<td class="memname">virtual void mrpt::hwdrivers::CTuMicos::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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<div class="memdoc">
<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="ad985079d72db2689055b8f6736f6a9a9"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::offPosQ" ref="ad985079d72db2689055b8f6736f6a9a9" args="(char axis, double &nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::offPosQ </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
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<div class="memdoc">
<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="af79d50778d228dfe13086a08c98c17b9"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::posToRad" ref="af79d50778d228dfe13086a08c98c17b9" args="(char axis, long nPos)" -->
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<td class="memname">virtual double mrpt::hwdrivers::CTuMicos::posToRad </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>nPos</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<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="ab7d37a69c8dec096af822493c49f1d68"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::powerMode" ref="ab7d37a69c8dec096af822493c49f1d68" args="(bool transit, char mode)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::powerMode </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>transit</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>mode</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<div class="memdoc">
<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="a72446197e15f760361cdf81a668878a4"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::powerModeQ" ref="a72446197e15f760361cdf81a668878a4" args="(bool transit, char &mode)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::powerModeQ </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>transit</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char & </td>
<td class="paramname"><em>mode</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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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</div>
<a class="anchor" id="ab78281b5d70d6e295a8527a10fea66de"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::printf_debug" ref="ab78281b5d70d6e295a8527a10fea66de" args="(const char *frmt,...)" -->
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>frmt</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname"><em>...</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, inherited]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Sends a formated text to "debugOut" if not NULL, or to cout otherwise. </p>
<p>Referenced by <a class="el" href="_c_levenberg_marquardt_8h_source.html#l00098">mrpt::math::CLevenbergMarquardtTempl::execute()</a>.</p>
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<a class="anchor" id="a382dee07e9c92b3f1d6b1db18a986303"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::radAsign" ref="a382dee07e9c92b3f1d6b1db18a986303" args="(char axis, char command, double nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::radAsign </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>command</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private, virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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="aa90d19471d42e173d999afd4d788c66c"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::radError" ref="aa90d19471d42e173d999afd4d788c66c" args="(char axis, double nRadMoved)" -->
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<td class="memname">virtual double mrpt::hwdrivers::CTuMicos::radError </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>nRadMoved</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>To obtains the mistake for use discrete values when the movement is expressed in radians. </p>
<p>Parameters are the absolute position in radians and the axis desired </p>
<p>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="a93d6c21c9bae621f8c97e30a66a07baa"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::radQuerry" ref="a93d6c21c9bae621f8c97e30a66a07baa" args="(char axis, char command, double &nRad)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::radQuerry </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char </td>
<td class="paramname"><em>command</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>nRad</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private, virtual]</code></td>
</tr>
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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="a445c1bd9b5512459f9f7a8d55c230ed2"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::radToPos" ref="a445c1bd9b5512459f9f7a8d55c230ed2" args="(char axis, double nRad)" -->
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<td class="memname">virtual long mrpt::hwdrivers::CTuMicos::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>
</table>
</div>
<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="ac4eb58b9cedbce222835445a24509bd4"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::rangeMeasure" ref="ac4eb58b9cedbce222835445a24509bd4" args="()" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::rangeMeasure </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<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="a2c692af93f7418223d05b02aa1d68e40"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::receive" ref="a2c692af93f7418223d05b02aa1d68e40" args="(const char *command, char *response)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::receive </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>command</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char * </td>
<td class="paramname"><em>response</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [private, virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<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="ab57668f92f293144f879690eb7a1caf0"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::reset" ref="ab57668f92f293144f879690eb7a1caf0" args="(void)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::reset </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<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="ac7ac06f87c96bb97f91b5696789aa6f0"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::resolution" ref="ac7ac06f87c96bb97f91b5696789aa6f0" args="(void)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::resolution </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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="a84fec14614283d70800af18eccd36395"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::restoreDefaults" ref="a84fec14614283d70800af18eccd36395" args="(void)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::restoreDefaults </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
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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="a598a3fd355152a89506ae34162e20d11"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::restoreFactoryDefaults" ref="a598a3fd355152a89506ae34162e20d11" args="(void)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::restoreFactoryDefaults </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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="ab75173bdd00c7362eb865238e79638b0"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::save" ref="ab75173bdd00c7362eb865238e79638b0" args="(void)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::save </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
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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="a69f962a60ecde07e073aa3c2d346c407"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::scan" ref="a69f962a60ecde07e073aa3c2d346c407" args="(char axis, int wait, float initial, float final, double radPre)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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>
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<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>
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<a class="anchor" id="af30bc920dc40cbafed4c458c299569ec"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::setLimits" ref="af30bc920dc40cbafed4c458c299569ec" args="(char axis, double &l, double &u)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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>
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<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>
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<a class="anchor" id="a51b1a3055853b3845e9779292001ddf6"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::speed" ref="a51b1a3055853b3845e9779292001ddf6" args="(char axis, double radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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>
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<a class="anchor" id="aae46952a2c267541c2126be0a9ef9330"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::speedQ" ref="aae46952a2c267541c2126be0a9ef9330" args="(char axis, double &radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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>
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<a class="anchor" id="aa0754c7c5b2e21b2fc0a7adc05e0da19"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::status" ref="aa0754c7c5b2e21b2fc0a7adc05e0da19" args="(double &rad)" -->
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<td class="memname">virtual double mrpt::hwdrivers::CTuMicos::status </td>
<td>(</td>
<td class="paramtype">double & </td>
<td class="paramname"><em>rad</em></td><td>)</td>
<td><code> [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>
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<a class="anchor" id="a1a9a01135f0586918fc9d7b04e203cf0"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::transmit" ref="a1a9a01135f0586918fc9d7b04e203cf0" args="(const char *command)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::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>
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<a class="anchor" id="aa921ec82ce4f2b7f3770ff7e490427ec"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::upperSpeed" ref="aa921ec82ce4f2b7f3770ff7e490427ec" args="(char axis, double radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::upperSpeed </td>
<td>(</td>
<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
</tr>
<tr>
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<td class="paramtype">double </td>
<td class="paramname"><em>radSec</em> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<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>
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<a class="anchor" id="ab49c3eb1623f89d054b57239c561f147"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::upperSpeedQ" ref="ab49c3eb1623f89d054b57239c561f147" args="(char axis, double &radSec)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::upperSpeedQ </td>
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<td class="paramtype">char </td>
<td class="paramname"><em>axis</em>, </td>
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<td class="paramtype">double & </td>
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<td>)</td>
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<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>
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<a class="anchor" id="ac34166a73e4514e7e7b039fb1c230216"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::verbose" ref="ac34166a73e4514e7e7b039fb1c230216" args="(bool set)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::verbose </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>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>
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<a class="anchor" id="a7f980de3432df40e4965efb9377f2622"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::verboseQ" ref="a7f980de3432df40e4965efb9377f2622" args="(bool &modo)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::verboseQ </td>
<td>(</td>
<td class="paramtype">bool & </td>
<td class="paramname"><em>modo</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<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="afbac933dd1480c00d5e031c6ec690600"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::version" ref="afbac933dd1480c00d5e031c6ec690600" args="(char *nVersion)" -->
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<td class="memname">virtual bool mrpt::hwdrivers::CTuMicos::version </td>
<td>(</td>
<td class="paramtype">char * </td>
<td class="paramname"><em>nVersion</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<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="a5536b77c478ec9724092269acce4dd13"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::axis_index" ref="a5536b77c478ec9724092269acce4dd13" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_tu_micos.html#a5536b77c478ec9724092269acce4dd13">mrpt::hwdrivers::CTuMicos::axis_index</a></td>
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<p>Definition at line <a class="el" href="_c_tu_micos_8h_source.html#l00355">355</a> of file <a class="el" href="_c_tu_micos_8h_source.html">CTuMicos.h</a>.</p>
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<a class="anchor" id="a5fa468ccf03732f24cad2f78c1fefaef"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::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>
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<p>Definition at line <a class="el" href="_c_ptu_base_8h_source.html#l00049">49</a> of file <a class="el" href="_c_ptu_base_8h_source.html">CPtuBase.h</a>.</p>
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<a class="anchor" id="a2c91aac0211b4192cd7bba1e2c0d5834"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::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>
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<p>Definition at line <a class="el" href="_c_ptu_base_8h_source.html#l00053">53</a> of file <a class="el" href="_c_ptu_base_8h_source.html">CPtuBase.h</a>.</p>
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<a class="anchor" id="a703ca960a9e709f3f64d8f5feb5f5fcd"></a><!-- doxytag: member="mrpt::hwdrivers::CTuMicos::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>
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<p>Definition at line <a class="el" href="_c_ptu_base_8h_source.html#l00049">49</a> of file <a class="el" href="_c_ptu_base_8h_source.html">CPtuBase.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
