ArSonyPTZ Class Reference

A class to use the sony pan tilt zoom unit. More...

#include <ArSonyPTZ.h>

Inherits ArPTZ.

Public Types
enum	{ MAX_PAN = 95, MAX_TILT = 25, MIN_ZOOM = 0, MAX_ZOOM = 1023 }

Public Member Functions
	ArSonyPTZ (ArRobot *robot)
bool	backLightingOff (void)
bool	backLightingOn (void)
virtual bool	canGetFOV (void)
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 bool	tilt (double degrees)
virtual bool	tiltRel (double degrees)
virtual bool	zoom (int zoomValue)
virtual bool	zoomRel (int zoomValue)
Public Member Functions inherited from ArPTZ
	ArPTZ (ArRobot *robot)
virtual bool	canGetRealPanTilt (void) const
	Whether getPan() hand getTilt() return the device's real position, or last commanded position.
virtual bool	canGetRealZoom (void) const
	Whether getZoom() returns the device's real zoom amount, or last commanded zoom position.
virtual bool	canSetFocus (void) const
	If the driver can set the focus on the camera, or not.
virtual bool	canSetGain (void) const
	If the driver can set gain on the camera, or not.
virtual void	connectHandler (void)
	Internal, attached to robot, inits the camera when robot connects.
virtual int	getAuxPort (void)
	Gets the port the device is set to communicate on.
virtual ArDeviceConnection *	getDeviceConnection (void)
	Gets the device connection used by this PTZ camera.
virtual double	getFocus (double focus) const
	Get the focus the camera is set to. 0 if not supported.
virtual double	getGain (double gain) const
	Get the gain the camera is set to. 0 if not supported.
virtual bool	packetHandler (ArBasePacket *packet)
	Handles a packet that was read from the device. More...
virtual ArBasePacket *	readPacket (void)
	Reads a packet from the device connection, MUST NOT BLOCK. More...
virtual void	reset (void)
	Resets the camera. More...
virtual bool	robotPacketHandler (ArRobotPacket *packet)
	Handles a packet that was read by the robot. More...
virtual bool	sendPacket (ArBasePacket *packet)
	Sends a given packet to the camera (via robot or serial port, depending) More...
virtual void	sensorInterpHandler (void)
	Internal, for attaching to the robots sensor interp to read serial port.
virtual bool	setAuxPort (int auxPort)
	Sets the aux port on the robot to be used to communicate with this device. More...
virtual bool	setDeviceConnection (ArDeviceConnection *connection, bool driveFromRobotLoop=true)
virtual bool	setFocus (double focus) const
virtual bool	setGain (double gain) const
virtual	~ArPTZ ()
	Destructor.

Protected Member Functions
void	initializePackets (void)

Protected Attributes
double	myDegToPan
double	myDegToTilt
ArSonyPacket	myPacket
double	myPan
ArSonyPacket	myPanTiltPacket
ArRobot *	myRobot
double	myTilt
int	myZoom
ArSonyPacket	myZoomPacket
Protected Attributes inherited from ArPTZ
int	myAuxPort
ArCommands::Commands	myAuxRxCmd
ArCommands::Commands	myAuxTxCmd
ArDeviceConnection *	myConn
ArFunctorC< ArPTZ >	myConnectCB
ArRobot *	myRobot
ArRetFunctor1C< bool, ArPTZ, ArRobotPacket * >	myRobotPacketHandlerCB
ArFunctorC< ArPTZ >	mySensorInterpCB

Detailed Description

A class to use the sony pan tilt zoom unit.

Examples:

sonyPTZDemo.cpp.

Member Enumeration Documentation

anonymous enum

Enumerator
MAX_PAN	maximum degrees the unit can pan (either direction)
MAX_TILT	maximum degrees the unit can tilt (either direction)
MIN_ZOOM	minimum value for zoom
MAX_ZOOM	maximum value for zoom

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

• ArSonyPTZ.h
• ArSonyPTZ.cpp