#include <hardware_interface.h>

Public Member Functions
	Projector (DigitalOut &A, DigitalOut &B, DigitalOut &I, DigitalOut &M, DigitalOut &L0, DigitalOut &L1)

Public Attributes
ProjectorCommand	command_

std::string	name_

ProjectorState	state_

Detailed Description

The PR2 has a textured-light projector for better stereo imaging. While this textured light improves the quality of 3D reconstruction from stereo images, it is not desirable to have the projector running for other imagers on PR2. The PR2's projector has a complicated system of controlling its state based on several external triggers.

The projector exposes its interface in two separate ways:

As a ProjectorCommand/ProjectorState pair
As a collection of 6 DigitalOut instances

The ProjectorCommand class allows the projector board to be configured for a variety of operational modes.

The ProjectorState class reports on the current status of the projector board.

Definition at line 335 of file hardware_interface.h.

Constructor & Destructor Documentation

◆ Projector()

pr2_hardware_interface::Projector::Projector	(	DigitalOut &	A,
		DigitalOut &	B,
		DigitalOut &	I,
		DigitalOut &	M,
		DigitalOut &	L0,
		DigitalOut &	L1
	)

inline

Definition at line 338 of file hardware_interface.h.

Member Data Documentation

◆ command_

ProjectorCommand pr2_hardware_interface::Projector::command_

Definition at line 341 of file hardware_interface.h.

◆ name_

std::string pr2_hardware_interface::Projector::name_

Definition at line 339 of file hardware_interface.h.

◆ state_

ProjectorState pr2_hardware_interface::Projector::state_

Definition at line 340 of file hardware_interface.h.

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

hardware_interface.h

Public Member Functions