#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
virtual double	getAngleSpeed (char type)
	getAngleSpeed Method to get the current angle speed of an axisa (deg/s)
virtual double	getCurrentAngle (char type)
	getCurrentAngle Method to get the current pan/tilt angle
virtual double	getDesiredAngle (char type)
	getDesiredAngle Method to get the desired pan/tilt angle (where the ptu moves to)
virtual long	getLimitAngle (char pan_or_tilt, char upper_or_lower)
	!!!!!!!!!Müssen nachfolgende public sein? Nach erstellen von mock überprüfen!!!!!!!!!!!
virtual bool	hasHalted ()
	hasHalted Method to determine if PTU movement has stopped
virtual bool	hasHaltedAndReachedGoal ()
	hasHaltedAndReachedGoal Method to determine if the PTU has halted and reached its goal
bool	isConnected ()
	isConnected Method to check if ptu is connected.
virtual bool	isInSpeedControlMode ()
	isInSpeedControlMode Method to determine if ptu is in pure speed control mode
virtual bool	isWithinPanTiltLimits (double pan, double tilt)
	isWithinPanTiltLimits Method that checks if pan and tilt value are within the chosen pan and tilt limits
	PTUDriverMock (const char *port, int baud, bool speed_control)
virtual bool	reachedGoal ()
	reachedGoal Method to determine if the PTU has reached its goal.
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
virtual void	setAbsoluteAngleSpeeds (double pan_speed, double tilt_speed)
	setAbsoluteAngleSpeeds Method to set desired speed for pan/tilt movement absolute in deg/s
virtual void	setAbsoluteAngleSpeeds (signed short pan_speed, signed short tilt_speed)
	determineLegitEndPoint DO NOT USE, NOT SUPPORTED IN MOCK
virtual void	setLimitAngles (double pan_min, double pan_max, double tilt_min, double tilt_max)
	setSettings Method to configure limits for pan and tilt
virtual void	setLimitAnglesToHardwareConstraints ()
	setLimitAnglesToHardwareConstraints Method that sets the pan and tilt limits to the maximum values that the hardware can provide.
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
virtual void	setSpeedControlMode (bool speed_control_mode)
	setSpeedControlMode Method to set and disable pure speed control mode
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
	~PTUDriverMock ()
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

Detailed Description

Definition at line 7 of file PTUDriverMock.h.

Constructor & Destructor Documentation

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

Definition at line 7 of file PTUDriverMock.cpp.

asr_flir_ptu_driver::PTUDriverMock::~PTUDriverMock ( )

Member Function Documentation

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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