IPTU.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
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#ifndef _MIRA_IPTU_H_
#define _MIRA_IPTU_H_

#include <transform/Pose.h>

namespace mira { namespace robot {


class IPTU
{
public:

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.interface("IPTU");

        r.method("setPan", &IPTU::setPan, this, "Set the pan angle.",
                 "pan", "pan angle", 0.);
        r.method("getPan", &IPTU::getPan, this, "Get the current pan angle.");
        r.method("addPan", &IPTU::addPan, this, "Adds value to current pan angle.",
                 "dPan", "pan angle increment", 0.);

        r.method("setTilt", &IPTU::setTilt, this, "Set the tilt angle.",
                 "tilt", "tilt angle", 0.);
        r.method("getTilt", &IPTU::getTilt, this, "Get the current tilt angle.");
        r.method("addTilt", &IPTU::addTilt, this, "Adds value to current tilt angle.",
                 "dTilt", "tilt angle increment", 0.);

        r.method("lookAt", &IPTU::lookAt, this,
                 "Moves the PTU to look at the specified target in the given target frame.",
                 "target", "target position", Eigen::Vector3f(1., 2., 3.),
                 "targetFrame", "transformation frame id for target position", "/maps/MapFrame",
                 "tolerance", "tolerance in deg. If difference between current view direction "
                              "and desired direction is closer than this threshold, the PTU is not moved.", 30);

        r.method("halt", &IPTU::halt, this, "Stops all movement.");
    }

    virtual ~IPTU() {}


public:
    virtual void setPan(double pan) = 0;
    virtual double getPan() = 0;
    virtual void addPan(double dPan) = 0;

    virtual void setTilt(double tilt) = 0;
    virtual double getTilt() = 0;
    virtual void addTilt(double dTilt) = 0;

    virtual void lookAt(const Eigen::Vector3f& target, const std::string& targetFrame, double tol) = 0;

    virtual void halt() = 0;

};


}} // namespace

#endif