ArRVisionPTZ Class Reference

#include <ArRVisionPTZ.h>

Inheritance diagram for ArRVisionPTZ:

List of all members.

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Detailed Description

A class to use the RVision pan tilt zoom unit.

Public Types
enum	{   MAX_PAN = 180, MIN_PAN = -180, MIN_TILT = -30, MAX_TILT = 60,   MIN_ZOOM = 0, MAX_ZOOM = 32767, TILT_OFFSET_IN_DEGREES = 38, PAN_OFFSET_IN_DEGREES = 190 }
Public Member Functions
	ArRVisionPTZ (ArRobot *robot)
virtual bool	canGetFOV (void)
virtual bool	canGetRealPanTilt (void) const
virtual bool	canGetRealZoom (void) const
virtual bool	canZoom (void) const
virtual double	getFOVAtMaxZoom (void)
	Gets the field of view at maximum zoom.
virtual double	getFOVAtMinZoom (void)
	Gets the field of view at minimum zoom.
virtual double	getMaxNegPan (void) const
virtual double	getMaxNegTilt (void) const
virtual double	getMaxPosPan (void) const
virtual double	getMaxPosTilt (void) const
virtual int	getMaxZoom (void) const
virtual int	getMinZoom (void) const
virtual double	getPan (void) const
virtual double	getTilt (void) const
virtual int	getZoom (void) const
virtual bool	init (void)
virtual bool	pan (double degrees)
virtual bool	panRel (double degrees)
virtual bool	panTilt (double degreesPan, double degreesTilt)
virtual bool	panTiltRel (double degreesPan, double degreesTilt)
virtual ArBasePacket *	readPacket (void)
virtual bool	tilt (double degrees)
virtual bool	tiltRel (double degrees)
virtual bool	zoom (int zoomValue)
virtual bool	zoomRel (int zoomValue)
Protected Member Functions
void	initializePackets (void)
Protected Attributes
ArDeviceConnection *	myConn
double	myDegToPan
double	myDegToTilt
ArRVisionPacket	myInquiryPacket
ArRVisionPacket	myPacket
double	myPan
double	myPanOffsetInDegrees
ArRVisionPacket	myPanTiltPacket
ArRobot *	myRobot
double	myTilt
double	myTiltOffsetInDegrees
int	myZoom
ArRVisionPacket	myZoomPacket

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Member Enumeration Documentation

anonymous enum

Enumeration values: MAX_PAN  maximum degrees the unit can pan (clockwise from top) MIN_PAN  minimum degrees the unit can pan (counterclockwise from top) MIN_TILT  minimum degrees the unit can tilt MAX_TILT  maximum degrees the unit can tilt MIN_ZOOM  minimum value for zoom MAX_ZOOM  maximum value for zoom TILT_OFFSET_IN_DEGREES  offset value to convert internal camera coords to world PAN_OFFSET_IN_DEGREES  offset value to convert internal camera coords to world

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The documentation for this class was generated from the following files:

• ArRVisionPTZ.h
• ArRVisionPTZ.cpp

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