MovingHead7 Class Reference

#include <MovingHead7.h>

List of all members.

Public Member Functions
	MovingHead7 ()
virtual	~MovingHead7 ()
virtual OStatus	DoInit (const OSystemEvent &event)
virtual OStatus	DoStart (const OSystemEvent &event)
virtual OStatus	DoStop (const OSystemEvent &event)
virtual OStatus	DoDestroy (const OSystemEvent &event)
void	Ready (const OReadyEvent &event)
Public Attributes
OSubject *	subject [numOfSubject]
OObserver *	observer [numOfObserver]
Private Member Functions
void	OpenPrimitives ()
void	NewCommandVectorData ()
void	SetJointGain ()
MovingResult	AdjustDiffJointValue ()
MovingResult	MoveToZeroPos ()
MovingResult	SwingHead ()
RCRegion *	FindFreeRegion ()
void	SetJointValue (RCRegion *rgn, int idx, double start, double end)
void	SetJointValue (RCRegion *rgn, int idx, int phase)
Private Attributes
MovingHead7State	movingHeadState
OPrimitiveID	jointID [NUM_JOINTS]
RCRegion *	region [NUM_COMMAND_VECTOR]
Static Private Attributes
const size_t	NUM_COMMAND_VECTOR = 2
const size_t	NUM_JOINTS = 3
const int	TILT1_INDEX = 0
const int	PAN_INDEX = 1
const int	TILT2_INDEX = 2
const double	TILT1_ZERO_POS = 0.0
const double	PAN_ZERO_POS = 0.0
const double	TILT2_ZERO_POS = 0.0
const double	SWING_AMPLITUDE = 80.0
const word	TILT1_PGAIN = 0x000a
const word	TILT1_IGAIN = 0x0004
const word	TILT1_DGAIN = 0x0002
const word	PAN_PGAIN = 0x0008
const word	PAN_IGAIN = 0x0002
const word	PAN_DGAIN = 0x0004
const word	TILT2_PGAIN = 0x0008
const word	TILT2_IGAIN = 0x0004
const word	TILT2_DGAIN = 0x0002
const word	PSHIFT = 0x000e
const word	ISHIFT = 0x0002
const word	DSHIFT = 0x000f
const int	ZERO_POS_MAX_COUNTER = 16
const int	MAX_PHASE = 128

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Constructor & Destructor Documentation

MovingHead7::MovingHead7 (   )

Definition at line 19 of file MovingHead7.cc. References jointID, MHS_IDLE, and region.

virtual MovingHead7::~MovingHead7 (   )  [inline, virtual]

Definition at line 42 of file MovingHead7.h.

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Member Function Documentation

MovingResult MovingHead7::AdjustDiffJointValue (   )  [private]

Definition at line 195 of file MovingHead7.cc. References GetJointValue(), jointID, region, SetJointValue(), and subject. Referenced by DoStart(), and Ready().

OStatus MovingHead7::DoDestroy (  const OSystemEvent &  event  )  [virtual]

Definition at line 77 of file MovingHead7.cc.

OStatus MovingHead7::DoInit (  const OSystemEvent &  event  )  [virtual]

Definition at line 26 of file MovingHead7.cc. References NewCommandVectorData(), and OpenPrimitives().

OStatus MovingHead7::DoStart (  const OSystemEvent &  event  )  [virtual]

Definition at line 46 of file MovingHead7.cc. References AdjustDiffJointValue(), movingHeadState, and subject.

OStatus MovingHead7::DoStop (  const OSystemEvent &  event  )  [virtual]

Definition at line 64 of file MovingHead7.cc. References movingHeadState.

RCRegion * MovingHead7::FindFreeRegion (   )  [private]

Definition at line 292 of file MovingHead7.cc. Referenced by MoveToZeroPos().

MovingResult MovingHead7::MoveToZeroPos (   )  [private]

Definition at line 212 of file MovingHead7.cc. References FindFreeRegion(), GetJointValue(), jointID, MOVING_CONT, MOVING_FINISH, MovingResult, PAN_INDEX, PAN_ZERO_POS, SetJointValue(), subject, TILT1_INDEX, TILT1_ZERO_POS, TILT2_INDEX, TILT2_ZERO_POS, and ZERO_POS_MAX_COUNTER. Referenced by Ready().

void MovingHead7::NewCommandVectorData (   )  [private]

Definition at line 138 of file MovingHead7.cc. References jointID, NUM_JOINTS, and region. Referenced by DoInit().

void MovingHead7::OpenPrimitives (   )  [private]

Definition at line 125 of file MovingHead7.cc. References jointID. Referenced by DoInit().

void MovingHead7::Ready (  const OReadyEvent &  event  )

Definition at line 84 of file MovingHead7.cc. References AdjustDiffJointValue(), MoveToZeroPos(), movingHeadState, MovingResult, SetJointGain(), and SwingHead().

void MovingHead7::SetJointGain (   )  [private]

Definition at line 170 of file MovingHead7.cc. References DSHIFT, ISHIFT, jointID, PAN_DGAIN, PAN_IGAIN, PAN_INDEX, PAN_PGAIN, PSHIFT, TILT1_DGAIN, TILT1_IGAIN, TILT1_INDEX, TILT1_PGAIN, TILT2_DGAIN, TILT2_IGAIN, TILT2_INDEX, and TILT2_PGAIN. Referenced by Ready().

void MovingHead7::SetJointValue (  RCRegion *  rgn, int  idx, int  phase )  [private]

Definition at line 320 of file MovingHead7.cc. References jointID, and SWING_AMPLITUDE.

void MovingHead7::SetJointValue (  RCRegion *  rgn, int  idx, double  start, double  end )  [private]

Definition at line 302 of file MovingHead7.cc. Referenced by AdjustDiffJointValue(), and MoveToZeroPos().

MovingResult MovingHead7::SwingHead (   )  [private]

Definition at line 268 of file MovingHead7.cc. Referenced by Ready().

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Member Data Documentation

const word MovingHead7::DSHIFT = 0x000f [static, private]

Definition at line 91 of file MovingHead7.h. Referenced by SetJointGain().

const word MovingHead7::ISHIFT = 0x0002 [static, private]

Definition at line 90 of file MovingHead7.h. Referenced by SetJointGain().

OPrimitiveID MovingHead7::jointID[NUM_JOINTS] [private]

Definition at line 97 of file MovingHead7.h. Referenced by AdjustDiffJointValue(), MoveToZeroPos(), MovingHead7(), NewCommandVectorData(), OpenPrimitives(), SetJointGain(), and SetJointValue().

const int MovingHead7::MAX_PHASE = 128 [static, private]

Definition at line 94 of file MovingHead7.h.

MovingHead7State MovingHead7::movingHeadState [private]

Definition at line 96 of file MovingHead7.h. Referenced by DoStart(), DoStop(), and Ready().

const size_t MovingHead7::NUM_COMMAND_VECTOR = 2 [static, private]

Definition at line 66 of file MovingHead7.h.

const size_t MovingHead7::NUM_JOINTS = 3 [static, private]

Definition at line 67 of file MovingHead7.h. Referenced by NewCommandVectorData().

OObserver* MovingHead7::observer[numOfObserver]

Definition at line 45 of file MovingHead7.h.

const word MovingHead7::PAN_DGAIN = 0x0004 [static, private]

Definition at line 83 of file MovingHead7.h. Referenced by SetJointGain().

const word MovingHead7::PAN_IGAIN = 0x0002 [static, private]

Definition at line 82 of file MovingHead7.h. Referenced by SetJointGain().

const int MovingHead7::PAN_INDEX = 1 [static, private]

Definition at line 69 of file MovingHead7.h. Referenced by MoveToZeroPos(), and SetJointGain().

const word MovingHead7::PAN_PGAIN = 0x0008 [static, private]

Definition at line 81 of file MovingHead7.h. Referenced by SetJointGain().

const double MovingHead7::PAN_ZERO_POS = 0.0 [static, private]

Definition at line 73 of file MovingHead7.h. Referenced by MoveToZeroPos().

const word MovingHead7::PSHIFT = 0x000e [static, private]

Definition at line 89 of file MovingHead7.h. Referenced by SetJointGain().

RCRegion* MovingHead7::region[NUM_COMMAND_VECTOR] [private]

Definition at line 98 of file MovingHead7.h. Referenced by AdjustDiffJointValue(), MovingHead7(), and NewCommandVectorData().

OSubject* MovingHead7::subject[numOfSubject]

Definition at line 44 of file MovingHead7.h. Referenced by AdjustDiffJointValue(), DoStart(), and MoveToZeroPos().

const double MovingHead7::SWING_AMPLITUDE = 80.0 [static, private]

Definition at line 75 of file MovingHead7.h. Referenced by SetJointValue().

const word MovingHead7::TILT1_DGAIN = 0x0002 [static, private]

Definition at line 79 of file MovingHead7.h. Referenced by SetJointGain().

const word MovingHead7::TILT1_IGAIN = 0x0004 [static, private]

Definition at line 78 of file MovingHead7.h. Referenced by SetJointGain().

const int MovingHead7::TILT1_INDEX = 0 [static, private]

Definition at line 68 of file MovingHead7.h. Referenced by MoveToZeroPos(), and SetJointGain().

const word MovingHead7::TILT1_PGAIN = 0x000a [static, private]

Definition at line 77 of file MovingHead7.h. Referenced by SetJointGain().

const double MovingHead7::TILT1_ZERO_POS = 0.0 [static, private]

Definition at line 72 of file MovingHead7.h. Referenced by MoveToZeroPos().

const word MovingHead7::TILT2_DGAIN = 0x0002 [static, private]

Definition at line 87 of file MovingHead7.h. Referenced by SetJointGain().

const word MovingHead7::TILT2_IGAIN = 0x0004 [static, private]

Definition at line 86 of file MovingHead7.h. Referenced by SetJointGain().

const int MovingHead7::TILT2_INDEX = 2 [static, private]

Definition at line 70 of file MovingHead7.h. Referenced by MoveToZeroPos(), and SetJointGain().

const word MovingHead7::TILT2_PGAIN = 0x0008 [static, private]

Definition at line 85 of file MovingHead7.h. Referenced by SetJointGain().

const double MovingHead7::TILT2_ZERO_POS = 0.0 [static, private]

Definition at line 74 of file MovingHead7.h. Referenced by MoveToZeroPos().

const int MovingHead7::ZERO_POS_MAX_COUNTER = 16 [static, private]

Definition at line 93 of file MovingHead7.h. Referenced by MoveToZeroPos().

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

• MovingHead7.h
• MovingHead7.cc

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