Public Member Functions | Public Attributes | List of all members
pr2_hardware_interface::Projector Class Reference

#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:

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 367 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 

Definition at line 370 of file hardware_interface.h.

Member Data Documentation

◆ command_

ProjectorCommand pr2_hardware_interface::Projector::command_

Definition at line 373 of file hardware_interface.h.

◆ name_

std::string pr2_hardware_interface::Projector::name_

Definition at line 371 of file hardware_interface.h.

◆ state_

ProjectorState pr2_hardware_interface::Projector::state_

Definition at line 372 of file hardware_interface.h.

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

Author(s): Eric Berger
autogenerated on Mon Mar 6 2023 03:49:16