IRI ROS Specific Driver Class. More...

#include <tibi_dabo_head_tracking_alg.h>

Public Types
typedef tibi_dabo_head_tracking::TibiDaboHeadTrackingConfig	Config
	define config type
Public Member Functions
void	compute_head_position (float target_pan, float target_tilt, float pan, float tilt)
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	get_current_error (float pan_error, float tilt_error)
void	lock (void)
	Lock Algorithm.
void	set_current_head_position (float pan, float tilt)
	TibiDaboHeadTrackingAlgorithm (void)
	constructor
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~TibiDaboHeadTrackingAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Protected Attributes
CMutex	alg_mutex_
	define config type
float	current_pan
float	current_tilt
float	max_pan_angle
float	max_tilt_angle
float	min_pan_angle
float	min_tilt_angle
int	mode
TPID	pan_control
float	pan_error
TPID	tilt_control
float	tilt_error

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 45 of file tibi_dabo_head_tracking_alg.h.

Member Typedef Documentation

typedef tibi_dabo_head_tracking::TibiDaboHeadTrackingConfig TibiDaboHeadTrackingAlgorithm::Config

define config type

Define a Config type with the TibiDaboHeadTrackingConfig. All driver implementations will then use the same variable type Config.

Definition at line 80 of file tibi_dabo_head_tracking_alg.h.

Constructor & Destructor Documentation

TibiDaboHeadTrackingAlgorithm::TibiDaboHeadTrackingAlgorithm ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file tibi_dabo_head_tracking_alg.cpp.

TibiDaboHeadTrackingAlgorithm::~TibiDaboHeadTrackingAlgorithm ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 24 of file tibi_dabo_head_tracking_alg.cpp.

Member Function Documentation

void TibiDaboHeadTrackingAlgorithm::compute_head_position	(	float	target_pan,
		float	target_tilt,
		float *	pan,
		float *	tilt
	)

Definition at line 50 of file tibi_dabo_head_tracking_alg.cpp.

void TibiDaboHeadTrackingAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters: