#include <PTUDriverMock.h>

Inheritance diagram for asr_flir_ptu_driver::PTUDriverMock:

Public Member Functions
virtual std::vector< double >	determineLegitEndPoint (double end_point_pan_candidate, double end_point_tilt_candidate)
	determineLegitEndPoint DO NOT USE, NOT SUPPORTED IN MOCK More...

virtual double	getAngleSpeed (char type)
	getAngleSpeed Method to get the current angle speed of an axisa (deg/s) More...

virtual double	getCurrentAngle (char type)
	getCurrentAngle Method to get the current pan/tilt angle More...

virtual double	getDesiredAngle (char type)
	getDesiredAngle Method to get the desired pan/tilt angle (where the ptu moves to) More...

virtual long	getLimitAngle (char pan_or_tilt, char upper_or_lower)
	!!!!!!!!!Müssen nachfolgende public sein? Nach erstellen von mock überprüfen!!!!!!!!!!! More...

virtual bool	hasHalted ()
	hasHalted Method to determine if PTU movement has stopped More...

virtual bool	hasHaltedAndReachedGoal ()
	hasHaltedAndReachedGoal Method to determine if the PTU has halted and reached its goal More...

bool	isConnected ()
	isConnected Method to check if ptu is connected. More...

virtual bool	isInSpeedControlMode ()
	isInSpeedControlMode Method to determine if ptu is in pure speed control mode More...

virtual bool	isWithinPanTiltLimits (double pan, double tilt)
	isWithinPanTiltLimits Method that checks if pan and tilt value are within the chosen pan and tilt limits More...

	PTUDriverMock (const char *port, int baud, bool speed_control)

virtual bool	reachedGoal ()
	reachedGoal Method to determine if the PTU has reached its goal. More...

virtual bool	setAbsoluteAngles (double pan_angle, double tilt_angle, bool no_forbidden_area_check)
	setAbsoluteAngles Method to set pan and tilt angle for the PTU More...

virtual void	setAbsoluteAngleSpeeds (double pan_speed, double tilt_speed)
	setAbsoluteAngleSpeeds Method to set desired speed for pan/tilt movement absolute in deg/s More...

virtual void	setAbsoluteAngleSpeeds (signed short pan_speed, signed short tilt_speed)
	determineLegitEndPoint DO NOT USE, NOT SUPPORTED IN MOCK More...

virtual void	setLimitAngles (double pan_min, double pan_max, double tilt_min, double tilt_max)
	setSettings Method to configure limits for pan and tilt More...

virtual void	setLimitAnglesToHardwareConstraints ()
	setLimitAnglesToHardwareConstraints Method that sets the pan and tilt limits to the maximum values that the hardware can provide. More...

virtual void	setSettings (int pan_base, int tilt_base, int pan_speed, int tilt_speed, int pan_upper, int tilt_upper, int pan_accel, int tilt_accel, int pan_hold, int tilt_hold, int pan_move, int tilt_move)
	setSettings Method to configure various settings of the ptu More...

virtual void	setSpeedControlMode (bool speed_control_mode)
	setSpeedControlMode Method to set and disable pure speed control mode More...

virtual bool	setValuesOutOfLimitsButWithinMarginToLimit (double pan, double tilt, double margin)
	setValuesOutOfLimitsButWithinMarginToLimit This method is used to set pan/tilt values that are slighly out of pan/tilt limits (but within a margin) to these limits More...

	~PTUDriverMock ()

Public Member Functions inherited from asr_flir_ptu_driver::PTUDriver
virtual bool	isInForbiddenArea (double pan_angle, double tilt_angle)
	isInForbiddenArea method to determine if a pan + tilt value pair lies within a forbidden area. More...

	PTUDriver (const char *port, int baud, bool speed_control)
	PTUDriver Constructor for PTUDriver class. More...

	PTUDriver ()
	PTUDriver Do not use, needed for mock. More...

virtual void	setComputationTolerance (double computation_tolerance)
	setComputationTolerance Sets the tolerance value for errors due to the imprecise nature of float, double, sqrt, ... computations (default is 0.00005 on startup) More...

virtual void	setDistanceFactor (long distance_factor)
	setDistanceFactor Method to set the factor which determines how much samples are going to be taken for path prediction. The higher the distance factor is the less samples get taken (the maximum time for changing a single position (step on step motor) is taken and scaled by distance factor. This is the time between two samples). Default is 5. More...

virtual void	setForbiddenAreas (std::vector< std::map< std::string, double > > forbidden_areas)
	setForbiddenAreas Method to set all forbidden areas for the PTU. Former forbidden areas will be discarded when invoking this method More...

	~PTUDriver ()
	~PTUDriver Do not use, necessary because of some compiler issues. More...

Private Attributes
double	current_pan_speed

double	current_tilt_speed

int	is_stopped_count

double	pan_acceleration

double	pan_angle

double	pan_base

double	pan_distance

double	pan_max_limit

double	pan_min_limit

double	pan_speed

double	tilt_acceleration

double	tilt_angle

double	tilt_base

double	tilt_distance

double	tilt_max_limit

double	tilt_min_limit

double	tilt_speed

Additional Inherited Members
Protected Member Functions inherited from asr_flir_ptu_driver::PTUDriver
virtual std::string	getErrorString (char status_code)

Protected Attributes inherited from asr_flir_ptu_driver::PTUDriver
std::vector< std::map< std::string, double > >	forbidden_areas

long	pan_max

long	pan_min

double	pan_resolution

long	prefetched_pan_current_base

long	prefetched_pan_current_position

long	prefetched_pan_desired_acceleration

long	prefetched_pan_desired_speed

long	prefetched_tilt_current_base

long	prefetched_tilt_current_position

long	prefetched_tilt_desired_acceleration

long	prefetched_tilt_desired_speed

long	tilt_max

long	tilt_min

double	tilt_resolution

Detailed Description

Definition at line 7 of file PTUDriverMock.h.

Constructor & Destructor Documentation

◆ PTUDriverMock()

asr_flir_ptu_driver::PTUDriverMock::PTUDriverMock	(	const char *	port,
		int	baud,
		bool	speed_control
	)

Definition at line 7 of file PTUDriverMock.cpp.

◆ ~PTUDriverMock()

asr_flir_ptu_driver::PTUDriverMock::~PTUDriverMock ( )

Member Function Documentation

◆ determineLegitEndPoint()

std::vector< double > asr_flir_ptu_driver::PTUDriverMock::determineLegitEndPoint	(	double	end_point_pan_candidate,
		double	end_point_tilt_candidate
	)

virtual

determineLegitEndPoint DO NOT USE, NOT SUPPORTED IN MOCK

Parameters

end_point_pan_candidate	-
end_point_tilt_candidate	-

Returns: -

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 194 of file PTUDriverMock.cpp.

◆ getAngleSpeed()

double asr_flir_ptu_driver::PTUDriverMock::getAngleSpeed ( char type )

virtual

getAngleSpeed Method to get the current angle speed of an axisa (deg/s)

Parameters

type	Axis to get the current angle speed from. PAN or TILT as value allowed.

Returns: Current angle speed of the axis (deg/s)

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 156 of file PTUDriverMock.cpp.

◆ getCurrentAngle()

double asr_flir_ptu_driver::PTUDriverMock::getCurrentAngle ( char type )

virtual

getCurrentAngle Method to get the current pan/tilt angle

Parameters

type	Axis to get the current angle from. PAN or TILT as value allowed.

Returns: The current angle of the chosen axis

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 140 of file PTUDriverMock.cpp.

◆ getDesiredAngle()

double asr_flir_ptu_driver::PTUDriverMock::getDesiredAngle ( char type )

virtual

getDesiredAngle Method to get the desired pan/tilt angle (where the ptu moves to)

Parameters

type	Axis to get the desired angle from. PAN or TILT as value allowed.

Returns: The desired angle of the chosen axis

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 147 of file PTUDriverMock.cpp.

◆ getLimitAngle()

long asr_flir_ptu_driver::PTUDriverMock::getLimitAngle	(	char	pan_or_tilt,
		char	upper_or_lower
	)

virtual

!!!!!!!!!Müssen nachfolgende public sein? Nach erstellen von mock überprüfen!!!!!!!!!!!

getLimitAngle Method to get one of the limit angles for pan/tilt movement

Parameters

pan_or_tilt	Value to specify the axes from which you want the limit angle. Can be 'p' for pan or 't' for tilt
upper_or_lower	Value to specifie if you want the upper or lower limit on specified axis. Can be 'l' for lower and 'u' for upper limit.

Returns: Desired limit angle; in error case (none legit input) maximum value for double is returned

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 239 of file PTUDriverMock.cpp.

◆ hasHalted()

bool asr_flir_ptu_driver::PTUDriverMock::hasHalted ( )

virtual

hasHalted Method to determine if PTU movement has stopped

Returns: True if halted

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 113 of file PTUDriverMock.cpp.

◆ hasHaltedAndReachedGoal()

bool asr_flir_ptu_driver::PTUDriverMock::hasHaltedAndReachedGoal ( )

virtual

hasHaltedAndReachedGoal Method to determine if the PTU has halted and reached its goal

Returns: True if halted and reached goal

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 135 of file PTUDriverMock.cpp.

◆ isConnected()

bool asr_flir_ptu_driver::PTUDriverMock::isConnected ( )

virtual

isConnected Method to check if ptu is connected.

Returns: True if connected

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 19 of file PTUDriverMock.cpp.

◆ isInSpeedControlMode()

bool asr_flir_ptu_driver::PTUDriverMock::isInSpeedControlMode ( )

virtual

isInSpeedControlMode Method to determine if ptu is in pure speed control mode

Returns: True if ptu is in pure speed control mode

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 86 of file PTUDriverMock.cpp.

◆ isWithinPanTiltLimits()

bool asr_flir_ptu_driver::PTUDriverMock::isWithinPanTiltLimits	(	double	pan,
		double	tilt
	)

virtual

isWithinPanTiltLimits Method that checks if pan and tilt value are within the chosen pan and tilt limits

Parameters

pan	Value for pan to be checked to be within limits
tilt	Value for tilt to be checke to be within limits

Returns: True if pan and tilt are within the limits

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 101 of file PTUDriverMock.cpp.

◆ reachedGoal()

bool asr_flir_ptu_driver::PTUDriverMock::reachedGoal ( )

virtual

reachedGoal Method to determine if the PTU has reached its goal.

Returns: True if halted

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 126 of file PTUDriverMock.cpp.

◆ setAbsoluteAngles()

bool asr_flir_ptu_driver::PTUDriverMock::setAbsoluteAngles	(	double	pan_angle,
		double	tilt_angle,
		bool	no_forbidden_area_check
	)

virtual

setAbsoluteAngles Method to set pan and tilt angle for the PTU

Parameters

pan_angle	Angle to move the pan axis to
tilt_angle	Angle to move the tilt axis to
no_forbidden_area_check	True if path prediction shall be used (nearest point on path outside orbidden areas is used) or False if it shall be checked if point is inside forbidden area (rejected then)

Returns: True if successfull, false otherwise (especially if no_forbidden_are_check is true and point is in forbidden area)

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 63 of file PTUDriverMock.cpp.

◆ setAbsoluteAngleSpeeds() [1/2]

void asr_flir_ptu_driver::PTUDriverMock::setAbsoluteAngleSpeeds	(	double	pan_speed,
		double	tilt_speed
	)

virtual

setAbsoluteAngleSpeeds Method to set desired speed for pan/tilt movement absolute in deg/s

Parameters

pan_speed	Absolute desired speed for pan axis
tilt_speed	Absolute desired speed for tilt axis

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 51 of file PTUDriverMock.cpp.

◆ setAbsoluteAngleSpeeds() [2/2]

void asr_flir_ptu_driver::PTUDriverMock::setAbsoluteAngleSpeeds	(	signed short	pan_speed,
		signed short	tilt_speed
	)

virtual

determineLegitEndPoint DO NOT USE, NOT SUPPORTED IN MOCK

Parameters

end_point_pan_candidate	-
end_point_tilt_candidate	-

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 59 of file PTUDriverMock.cpp.

◆ setLimitAngles()

void asr_flir_ptu_driver::PTUDriverMock::setLimitAngles	(	double	pan_min,
		double	pan_max,
		double	tilt_min,
		double	tilt_max
	)

virtual

setSettings Method to configure limits for pan and tilt

Parameters

pan_min	Minimum pan value in degree
pan_max	Maxiumum pan value in degree
tilt_min	Minimum tilt value in degree
tilt_max	Maximum tilt value in degree

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 41 of file PTUDriverMock.cpp.

◆ setLimitAnglesToHardwareConstraints()

void asr_flir_ptu_driver::PTUDriverMock::setLimitAnglesToHardwareConstraints ( )

virtual

setLimitAnglesToHardwareConstraints Method that sets the pan and tilt limits to the maximum values that the hardware can provide.

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 176 of file PTUDriverMock.cpp.

◆ setSettings()

void asr_flir_ptu_driver::PTUDriverMock::setSettings	(	int	pan_base,
		int	tilt_base,
		int	pan_speed,
		int	tilt_speed,
		int	pan_upper,
		int	tilt_upper,
		int	pan_accel,
		int	tilt_accel,
		int	pan_hold,
		int	tilt_hold,
		int	pan_move,
		int	tilt_move
	)

virtual

setSettings Method to configure various settings of the ptu

Parameters

pan_base	Base speed of pan axis
tilt_base	Base speed of tilt axis
pan_speed	Desired speed on pan axis
tilt_speed	Desired speed on tilt axis
pan_upper	Upper speed limit on pan axis
tilt_upper	Upper speed limit on tilt axis
pan_accel	Acceleration on pan axis
tilt_accel	Acceleration on tilt axis
pan_hold	Powerlevel of pan axis when not moving
tilt_hold	Powerlevel of tilt axis when not moving
pan_move	Powerlevel of pan axis when moving
tilt_move	Powerlevel of tilt axis when moving

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 24 of file PTUDriverMock.cpp.

◆ setSpeedControlMode()

void asr_flir_ptu_driver::PTUDriverMock::setSpeedControlMode ( bool speed_control_mode )

virtual

setSpeedControlMode Method to set and disable pure speed control mode

Parameters

speed_control_mode True to make the PTU controllable by speed values only (no angles, only speed), false for hybrid mode (movement via angles by specified speed)

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 83 of file PTUDriverMock.cpp.

◆ setValuesOutOfLimitsButWithinMarginToLimit()

bool asr_flir_ptu_driver::PTUDriverMock::setValuesOutOfLimitsButWithinMarginToLimit	(	double *	pan,
		double *	tilt,
		double	margin
	)

virtual

setValuesOutOfLimitsButWithinMarginToLimit This method is used to set pan/tilt values that are slighly out of pan/tilt limits (but within a margin) to these limits

Parameters

pan	Pan value to check if it is within pan limits and to set to limit if it is outside but within margin
tilt	Tilt value to check if it is within tilt limits and to set to limit if it is outside but within margin
margin	Margin for values outside pan/tilt limits

Returns: True if successfull, false if values are more out of pan/tilt limits than margin

Reimplemented from asr_flir_ptu_driver::PTUDriver.

Definition at line 203 of file PTUDriverMock.cpp.

Member Data Documentation

◆ current_pan_speed

double asr_flir_ptu_driver::PTUDriverMock::current_pan_speed

private

Definition at line 65 of file PTUDriverMock.h.

◆ current_tilt_speed

double asr_flir_ptu_driver::PTUDriverMock::current_tilt_speed

private

Definition at line 66 of file PTUDriverMock.h.

◆ is_stopped_count

int asr_flir_ptu_driver::PTUDriverMock::is_stopped_count

private

Definition at line 60 of file PTUDriverMock.h.

◆ pan_acceleration

double asr_flir_ptu_driver::PTUDriverMock::pan_acceleration

private

Definition at line 69 of file PTUDriverMock.h.

◆ pan_angle

double asr_flir_ptu_driver::PTUDriverMock::pan_angle

private

Definition at line 61 of file PTUDriverMock.h.

◆ pan_base

double asr_flir_ptu_driver::PTUDriverMock::pan_base

private

Definition at line 67 of file PTUDriverMock.h.

◆ pan_distance

double asr_flir_ptu_driver::PTUDriverMock::pan_distance

private

Definition at line 76 of file PTUDriverMock.h.

◆ pan_max_limit

double asr_flir_ptu_driver::PTUDriverMock::pan_max_limit

private

Definition at line 71 of file PTUDriverMock.h.

◆ pan_min_limit

double asr_flir_ptu_driver::PTUDriverMock::pan_min_limit

private

Definition at line 72 of file PTUDriverMock.h.

◆ pan_speed

double asr_flir_ptu_driver::PTUDriverMock::pan_speed

private

Definition at line 63 of file PTUDriverMock.h.

◆ tilt_acceleration

double asr_flir_ptu_driver::PTUDriverMock::tilt_acceleration

private

Definition at line 70 of file PTUDriverMock.h.

◆ tilt_angle

double asr_flir_ptu_driver::PTUDriverMock::tilt_angle

private

Definition at line 62 of file PTUDriverMock.h.

◆ tilt_base

double asr_flir_ptu_driver::PTUDriverMock::tilt_base

private

Definition at line 68 of file PTUDriverMock.h.

◆ tilt_distance

double asr_flir_ptu_driver::PTUDriverMock::tilt_distance

private

Definition at line 77 of file PTUDriverMock.h.

◆ tilt_max_limit

double asr_flir_ptu_driver::PTUDriverMock::tilt_max_limit

private

Definition at line 73 of file PTUDriverMock.h.

◆ tilt_min_limit

double asr_flir_ptu_driver::PTUDriverMock::tilt_min_limit

private

Definition at line 74 of file PTUDriverMock.h.

◆ tilt_speed

double asr_flir_ptu_driver::PTUDriverMock::tilt_speed

private

Definition at line 64 of file PTUDriverMock.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PTUDriverMock()

◆ ~PTUDriverMock()

Member Function Documentation

◆ determineLegitEndPoint()

◆ getAngleSpeed()

◆ getCurrentAngle()

◆ getDesiredAngle()

◆ getLimitAngle()

◆ hasHalted()

◆ hasHaltedAndReachedGoal()

◆ isConnected()

◆ isInSpeedControlMode()

◆ isWithinPanTiltLimits()

◆ reachedGoal()

◆ setAbsoluteAngles()

◆ setAbsoluteAngleSpeeds() [1/2]

◆ setAbsoluteAngleSpeeds() [2/2]

◆ setLimitAngles()

◆ setLimitAnglesToHardwareConstraints()

◆ setSettings()

◆ setSpeedControlMode()

◆ setValuesOutOfLimitsButWithinMarginToLimit()

Member Data Documentation

◆ current_pan_speed

◆ current_tilt_speed

◆ is_stopped_count

◆ pan_acceleration

◆ pan_angle

◆ pan_base

◆ pan_distance

◆ pan_max_limit

◆ pan_min_limit

◆ pan_speed

◆ tilt_acceleration

◆ tilt_angle

◆ tilt_base

◆ tilt_distance

◆ tilt_max_limit

◆ tilt_min_limit

◆ tilt_speed