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Camera Control Functions

The robot can be equipped with an active camera. This set of functions allow to command the camera and get information about its state.



boolean has_camera (t_robot *r)
 

Returns TRUE if the robot has a camera.



void set_pan (double pan,t_robot *r)
 

Sets the pan angle for the camera. If pan is negative the camera is moved to the right and if positive to the left.



void set_tilt (double tilt,t_robot *r)
 

Sets the tilt angle for the camera. If tilt is negative the camera is moved down and if positive up.



void set_vision_angle (double angle,t_robot *r)
 

Allows to modify the aperture of the camera or, what is the same, the angular field-of-view. The angle must be given in radians.



double get_pan (t_robot *r)
 

Returns the current pan of the camera.



double get_tilt (t_robot *r)
 

Returns the current tilt of the camera.



double get_vision_angle (t_robot *r)
 

Returns the current aperture of the camera.



Josep M. Porta Pleite
8/2/2000