BIAS::IselLinearControl Class Reference

This class controls the Isel Linear Unit. More...

#include <PanTilt/IselLinearControl.hh>

Inheritance diagram for BIAS::IselLinearControl:

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List of all members.

Public Member Functions

void AddDebugLevel (const std::string &name)
void AddDebugLevel (const long int lv)
void Close ()
 closes the comport stream connected to ptu
bool DebugLevelIsSet (const std::string &name) const
bool DebugLevelIsSet (const long int lv) const
void GetAcceleration (int &accel)
void GetCurrentPosition (int &pos)
int GetDebugLevel () const
void GetDebugStream (std::ostream &os) const
std::ostream & GetDebugStream () const
void GetSpeed (int &speed)
int Init (const char *COMportName)
 opens the given port and initialises pan tilt unit
int Init (int nCOMportNumber)
 opens the serial port and initialises unit
 IselLinearControl ()
 standard constructor / destructor
int MoveLeft (float millimeters)
int MoveRight (float millimeters)
long int Name2DebugLevel (const std::string &name) const
 looks up a debuglevel in the internal map, returns 0 if not found
long int NewDebugLevel (const std::string &name)
 creates a new debuglevel
void PrintDebugLevel (std::ostream &os=std::cout) const
int ReadRawLine (std::string &cmd)
 Read a line from the serial port, returns length of read string, zero on nothing to read.
void RemoveDebugLevel (const std::string &name)
void RemoveDebugLevel (const long int lv)
int Reset ()
 Start Reference Tour.
void SendRawCommand (std::string cmd)
 Send a command string, terminated by <cr> character.
int SetAcceleration (int accel)
void SetDebugLevel (const std::string &name)
void SetDebugLevel (const long int lv)
void SetDebugStream (const std::ostream &os)
int SetPosition (int pos, bool bWaitComplete=true)
int SetSpeed (int speed)
void ShowDebugLevel (std::ostream &os=std::cout) const
 prints all internally known debuglevels
 ~IselLinearControl ()

Static Public Member Functions

static long int GetGlobalDebugLevel ()
static void SetGlobalDebugLevel (long int lev)

Protected Member Functions

int CheckStatus ()
long ConsumeNextFreeDebuglevel_ ()
 returns the next available debuglevel

Protected Attributes

long int _liDebugLevel
long int _liNextDebugLevel
 new concept, debuglevel are managed here in the debug class
std::map< std::string, long int > _String2Debuglevel
portstream_fd COMstream_
int speed_
unsigned int steps_per_mm_

Static Protected Attributes

static std::ostream _zDebugStream
static long int GlobalDebugLevel = 0

Detailed Description

This class controls the Isel Linear Unit.

Author:
fkellner, 09/09
Examples:

ExampleIselLinearControl.cpp.

Definition at line 29 of file IselLinearControl.hh.

Constructor & Destructor Documentation

IselLinearControl::IselLinearControl (  ) 

standard constructor / destructor

Definition at line 11 of file IselLinearControl.cpp.

References speed_, and steps_per_mm_.

IselLinearControl::~IselLinearControl (  ) 

Definition at line 17 of file IselLinearControl.cpp.

Member Function Documentation

void BIAS::Debug::AddDebugLevel ( const std::string &  name  )  [inline, inherited]

Definition at line 363 of file Debug.hh.

void BIAS::Debug::AddDebugLevel ( const long int  lv  )  [inline, inherited]

Reimplemented in BIAS::GLProjectionParametersBase.

Examples:
EvaluateAlignment.cpp, ExampleAlignment.cpp, ExampleDebug.cpp, ExampleRANSAC.cpp, ExampleRANSACPlane.cpp, ExampleTriangulateOptimal.cpp, and TestGuiEnhanced.cpp.

Definition at line 356 of file Debug.hh.

Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::RANSAC< SolutionType >::RANSAC(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().

int IselLinearControl::CheckStatus (  )  [protected]

Definition at line 143 of file IselLinearControl.cpp.

References ReadRawLine(), and SendRawCommand().

Referenced by Init(), MoveLeft(), MoveRight(), Reset(), and SetPosition().

void IselLinearControl::Close (  ) 

closes the comport stream connected to ptu

Examples:
ExampleIselLinearControl.cpp.

Definition at line 45 of file IselLinearControl.cpp.

References COMstream_.

long BIAS::Debug::ConsumeNextFreeDebuglevel_ (  )  [inline, protected, inherited]

returns the next available debuglevel

Author:
woelk 09/2006

Definition at line 522 of file Debug.hh.

bool BIAS::Debug::DebugLevelIsSet ( const std::string &  name  )  const [inline, inherited]

Definition at line 351 of file Debug.hh.

bool BIAS::Debug::DebugLevelIsSet ( const long int  lv  )  const [inline, inherited]

Examples:
ExampleTriangulateOptimal.cpp.

Definition at line 342 of file Debug.hh.

Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::Rescale< InputStorageType, OutputStorageType >::_ApplyMeanFilter(), BIAS::CornerDetectorGradient< StorageType, CalculationType >::_CalcCornerness(), BIAS::GaussThreshold< InputStorageType, OutputStorageType >::_CalculateKernels(), BIAS::Gauss< InputStorageType, OutputStorageType >::_CalculateKernels(), BIAS::LinearRegionDetector< StorageType, CalculationType >::_ComputeCornerness(), BIAS::CornerDetectorKLT< StorageType, CalculationType >::_ComputeCornerness(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::Rescale< InputStorageType, OutputStorageType >::_FillInterpolated(), BIAS::Rescale< InputStorageType, OutputStorageType >::_FillInterpolatedColor(), BIAS::Rescale< InputStorageType, OutputStorageType >::_FillInterpolatedGrey(), BIAS::ImageBlender::BlendImages(), BIAS::StructureTensor< InputStorageType, OutputStorageType >::CalcStructureTensor(), BIAS::StructureTensor< InputStorageType, OutputStorageType >::CalcStructureTensor3x3(), BIAS::StructureTensor< InputStorageType, OutputStorageType >::CalcStructureTensor5x5(), BIAS::StructureTensor< InputStorageType, OutputStorageType >::CalcStructureTensor7x7(), BIAS::StructureTensor< InputStorageType, OutputStorageType >::CalcStructureTensorValid(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::CornerDetectorGradient< StorageType, CalculationType >::Detect(), BIAS::Rescale< InputStorageType, OutputStorageType >::DownsampleBy2Color(), BIAS::Binomial< InputStorageType, OutputStorageType >::Filter3x3ValidGreyFloat(), BIAS::Binomial< InputStorageType, OutputStorageType >::Filter5x5ValidGreyFloat(), BIAS::Convolution< InputStorageType, OutputStorageType >::FilterFloat(), BIAS::Convolution< InputStorageType, OutputStorageType >::FilterInt(), BIAS::RANSAC< SolutionType >::GenerateSamplesRandom(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::Tracker< StorageType, CalculationType >::PreparePyramide(), and BIAS::MonteCarloTransform::Transform().

void IselLinearControl::GetAcceleration ( int &  accel  ) 

Returns:
the current Acceleration

Definition at line 79 of file IselLinearControl.cpp.

void IselLinearControl::GetCurrentPosition ( int &  pos  ) 

Returns:
the current position of the Unit

Definition at line 114 of file IselLinearControl.cpp.

int BIAS::Debug::GetDebugLevel (  )  const [inline, inherited]

Examples:
DebugMyMain.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, and ExampleParabola.cpp.

Definition at line 333 of file Debug.hh.

Referenced by BIAS::MSAC< SolutionType >::_GenerateSamplesRandom(), BIAS::ImageAlignment::Align(), BIAS::ExampleDebug::func(), BIAS::FMatrix::GetEpipoles(), BIAS::GuiGTK::MouseMotionCallback_(), BIAS::Image< StorageType >::operator=(), BIAS::ImageBase::operator=(), BIAS::ExampleDebug::ResetDebugLevelFromGlobal(), BIAS::TrackerBaseAffine2< StorageType >::TrackAffine_(), and BIAS::TrackerBaseAffine< StorageType >::TrackAffine_().

void BIAS::Debug::GetDebugStream ( std::ostream &  os  )  const [inline, inherited]

Definition at line 415 of file Debug.hh.

std::ostream& BIAS::Debug::GetDebugStream (  )  const [inline, inherited]

Definition at line 406 of file Debug.hh.

Referenced by BIAS::MSAC< SolutionType >::_GenerateSamplesRandom(), BIAS::RANSAC< SolutionType >::GenerateSamplesRandom(), and BIAS::GuiGTK::MouseMotionCallback_().

static long int BIAS::Debug::GetGlobalDebugLevel (  )  [inline, static, inherited]

Definition at line 432 of file Debug.hh.

Referenced by BIAS::ExampleDebug::func(), and BIAS::ExampleDebug::ResetDebugLevelFromGlobal().

void IselLinearControl::GetSpeed ( int &  speed  ) 

Returns:
the current speed

Definition at line 62 of file IselLinearControl.cpp.

References speed_.

int IselLinearControl::Init ( const char *  COMportName  ) 

opens the given port and initialises pan tilt unit

Parameters:
char[] the name of the port

Definition at line 34 of file IselLinearControl.cpp.

References CheckStatus(), COMstream_, and SendRawCommand().

int IselLinearControl::Init ( int  nCOMportNumber  ) 

opens the serial port and initialises unit

Parameters:
int the number of the serial port
Examples:
ExampleIselLinearControl.cpp.

Definition at line 26 of file IselLinearControl.cpp.

int IselLinearControl::MoveLeft ( float  millimeters  ) 

Examples:
ExampleIselLinearControl.cpp.

Definition at line 85 of file IselLinearControl.cpp.

References CheckStatus(), SendRawCommand(), speed_, and steps_per_mm_.

int IselLinearControl::MoveRight ( float  millimeters  ) 

Examples:
ExampleIselLinearControl.cpp.

Definition at line 99 of file IselLinearControl.cpp.

References CheckStatus(), SendRawCommand(), speed_, and steps_per_mm_.

long int BIAS::Debug::Name2DebugLevel ( const std::string &  name  )  const [inline, inherited]

looks up a debuglevel in the internal map, returns 0 if not found

Author:
woelk 09/2006

Definition at line 455 of file Debug.hh.

long int BIAS::Debug::NewDebugLevel ( const std::string &  name  )  [inline, inherited]

creates a new debuglevel

Author:
woelk 09/2006
Examples:
ExampleDebug.cpp.

Definition at line 475 of file Debug.hh.

Referenced by BIAS::Condensation::Condensation(), BIAS::COSAC< SolutionType >::COSAC(), BIAS::Histogram::Histogram(), BIAS::MonteCarloTransform::MonteCarloTransform(), myclass::myclass(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PMatrixLinear::PMatrixLinear(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSAC< SolutionType >::RANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().

void BIAS::Debug::PrintDebugLevel ( std::ostream &  os = std::cout  )  const [inline, inherited]

Examples:
ExampleDebug.cpp.

Definition at line 384 of file Debug.hh.

int BIAS::IselLinearControl::ReadRawLine ( std::string &  cmd  ) 

Read a line from the serial port, returns length of read string, zero on nothing to read.

Referenced by CheckStatus().

void BIAS::Debug::RemoveDebugLevel ( const std::string &  name  )  [inline, inherited]

Definition at line 377 of file Debug.hh.

void BIAS::Debug::RemoveDebugLevel ( const long int  lv  )  [inline, inherited]

Definition at line 370 of file Debug.hh.

int IselLinearControl::Reset (  ) 

Start Reference Tour.

Returns:
bool indicating success of reset
Examples:
ExampleIselLinearControl.cpp.

Definition at line 20 of file IselLinearControl.cpp.

References CheckStatus(), and SendRawCommand().

void BIAS::IselLinearControl::SendRawCommand ( std::string  cmd  ) 

Send a command string, terminated by <cr> character.

Referenced by CheckStatus(), Init(), MoveLeft(), MoveRight(), Reset(), and SetPosition().

int IselLinearControl::SetAcceleration ( int  accel  ) 

Definition at line 67 of file IselLinearControl.cpp.

void BIAS::Debug::SetDebugLevel ( const std::string &  name  )  [inline, inherited]

Definition at line 326 of file Debug.hh.

void BIAS::Debug::SetDebugLevel ( const long int  lv  )  [inline, inherited]

Reimplemented in BIAS::GLProjectionParametersBase.

Examples:
DebugMyMain.cpp, ExampleCamPoseCalib.cpp, ExampleCopy.cpp, ExampleDebug.cpp, ExampleHarrisColor.cpp, ExampleKLTEdge.cpp, ExampleLineMatcher.cpp, ExampleParabola.cpp, and ExamplePMatrix.cpp.

Definition at line 319 of file Debug.hh.

Referenced by BIAS::Interpolator::Interpolator(), BIAS::ExampleDebug::ResetDebugLevelFromGlobal(), BIAS::MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::MDcam::SetDebugLevelDcam(), BIAS::VideoSource_Disk::VideoSource_Disk(), BIAS::VideoSource_DV2::VideoSource_DV2(), BIAS::VideoSource_DV::VideoSource_DV_Internal_Init_(), and BIAS::VideoSource_V4L::VideoSource_V4L().

void BIAS::Debug::SetDebugStream ( const std::ostream &  os  )  [inline, inherited]

Examples:
DebugMyMain.cpp.

Definition at line 399 of file Debug.hh.

static void BIAS::Debug::SetGlobalDebugLevel ( long int  lev  )  [inline, static, inherited]

Examples:
DebugMyMain.cpp.

Definition at line 425 of file Debug.hh.

int IselLinearControl::SetPosition ( int  pos,
bool  bWaitComplete = true 
)

Examples:
ExampleIselLinearControl.cpp.

Definition at line 120 of file IselLinearControl.cpp.

References CheckStatus(), SendRawCommand(), and speed_.

int IselLinearControl::SetSpeed ( int  speed  ) 

Examples:
ExampleIselLinearControl.cpp.

Definition at line 51 of file IselLinearControl.cpp.

References speed_.

void BIAS::Debug::ShowDebugLevel ( std::ostream &  os = std::cout  )  const [inline, inherited]

prints all internally known debuglevels

Author:
woelk 09/2006
Examples:
ExampleDebug.cpp.

Definition at line 497 of file Debug.hh.

Member Data Documentation

long int BIAS::Debug::_liDebugLevel [protected, inherited]

Definition at line 511 of file Debug.hh.

Referenced by BIAS::GuiGTK::DeleteEvent_(), BIAS::GuiGTK::Destroy_(), BIAS::GuiGTK::DrawingAreaExposeCallback_(), BIAS::GuiGTK::GtkMain(), BIAS::GuiGTK::KeyPressEventCallback_(), BIAS::GuiGTK::LabelExposeCallback_(), BIAS::GuiGTK::MouseButtonPressCallback_(), BIAS::GuiGTK::MouseButtonReleaseCallback_(), BIAS::GuiGTK::MouseMotionCallback_(), BIAS::Image< StorageType >::operator=(), BIAS::ImageBase::operator=(), and BIAS::Debug::operator=().

long int BIAS::Debug::_liNextDebugLevel [protected, inherited]

new concept, debuglevel are managed here in the debug class

Definition at line 517 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::map<std::string, long int> BIAS::Debug::_String2Debuglevel [protected, inherited]

Definition at line 518 of file Debug.hh.

Referenced by BIAS::Debug::operator=().

std::ostream BIAS::Debug::_zDebugStream [static, protected, inherited]

Definition at line 512 of file Debug.hh.

Referenced by BIAS::GuiGTK::DeleteEvent_(), BIAS::GuiGTK::Destroy_(), BIAS::GuiGTK::DrawingAreaExposeCallback_(), BIAS::GuiGTK::GtkMain(), BIAS::GuiGTK::KeyPressEventCallback_(), BIAS::GuiGTK::LabelExposeCallback_(), BIAS::GuiGTK::MouseButtonPressCallback_(), BIAS::GuiGTK::MouseButtonReleaseCallback_(), BIAS::GuiGTK::MouseMotionCallback_(), and BIAS::Debug::operator=().

portstream_fd BIAS::IselLinearControl::COMstream_ [protected]

Definition at line 101 of file IselLinearControl.hh.

Referenced by Close(), and Init().

long int BIAS::Debug::GlobalDebugLevel = 0 [static, protected, inherited]

Definition at line 514 of file Debug.hh.

int BIAS::IselLinearControl::speed_ [protected]

Definition at line 100 of file IselLinearControl.hh.

Referenced by GetSpeed(), IselLinearControl(), MoveLeft(), MoveRight(), SetPosition(), and SetSpeed().

unsigned int BIAS::IselLinearControl::steps_per_mm_ [protected]

Definition at line 102 of file IselLinearControl.hh.

Referenced by IselLinearControl(), MoveLeft(), and MoveRight().

The documentation for this class was generated from the following files:
Generated on Thu Mar 18 01:11:38 2010 for Basic Image AlgorithmS Library by  doxygen 1.5.6