cTrackingControler Class Reference
[Pedestrian Detection using Haar Features and Foveation control]

controls pan and tilt More...

#include <pdhffc_pid.h>

Collaboration diagram for cTrackingControler:

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Public Member Functions
	cTrackingControler ()
	Class constructor Inits LastDir and history structs.
	~cTrackingControler ()
	Class destructor Inits LastDir and history structs.
int	SetPanControlParams (unsigned int BZ=20, double Kp=17.0, double Ki=10.0, double Kd=10.0)
	Sets Pan controler params.
int	SetTiltControlParams (unsigned int BZ=20, double Kp=17.0, double Ki=10.0, double Kd=10.0)
	Sets Tilt controler params.
int	SetTargetPos (unsigned int x, unsigned int y)
	Sets internal variables TargetPos.x and y to given values.
int	SetCurrentPos (unsigned int x, unsigned int y)
	Sets internal variables CurrentPos.x and y to given values.
int	SetControlerDescription (unsigned int cd)
	Sets controler type.
int	DoLoop (int *PanPos, int *TiltPos, double *PanS, double *TiltS, int *PanHalt, int *TiltHalt)
Private Member Functions
int	ResetPanKiSum (void)
int	ResetTiltKiSum (void)
Private Attributes
struct {
TypeControlParams   Pan
TypeControlParams   Tilt
struct {
unsigned int   x
unsigned int   y
}   TargetPos
struct {
unsigned int   x
unsigned int   y
}   CurrentPos
struct {
int   x [ERRORHISTORYSIZE]
int   y [ERRORHISTORYSIZE]
double   AvgX
double   AvgY
int   SumX
int   SumY
int   derX
int   derY
}   ErrorHistory
int   LastXDir
int   LastYDir
}	P
int	ControlerDescription

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Detailed Description

controls pan and tilt

Author:

Miguel Oliveira

Version:

0.0

Date:

26/11/2006

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Member Function Documentation

int cTrackingControler::ResetPanKiSum

(

void

)

[inline, private]

References P.

Referenced by cTrackingControler(), and DoLoop().

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int cTrackingControler::ResetTiltKiSum

(

void

)

[inline, private]

References P.

Referenced by cTrackingControler(), and DoLoop().

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int cTrackingControler::SetCurrentPos	(	unsigned int	x,
		unsigned int	y
	)			[inline]

Sets internal variables CurrentPos.x and y to given values.

Parameters:

	x	target x
	y	target y

Returns:

function result. 1 is OK 0 is NOK

References P.

int cTrackingControler::SetPanControlParams	(	unsigned int	BZ = 20,
		double	Kp = 17.0,
		double	Ki = 10.0,
		double	Kd = 10.0
	)			[inline]

Sets Pan controler params.

If none are given, some are assumed by default:

• Bz = 20
• Kp = 17.0
• Ki = 10.0
• Kd = 10.0

  Parameters:

  	BZ	Blind zone size
  	Kp	Proportional constant
  	Ki	Integrative constant
  	Kd	Derivative constant

  Returns:

  function result. 1 is OK 0 is NOK

References P.

int cTrackingControler::SetTargetPos	(	unsigned int	x,
		unsigned int	y
	)			[inline]

Sets internal variables TargetPos.x and y to given values.

Parameters:

	x	target x
	y	target y

Returns:

function result. 1 is OK 0 is NOK

References P.

int cTrackingControler::SetTiltControlParams	(	unsigned int	BZ = 20,
		double	Kp = 17.0,
		double	Ki = 10.0,
		double	Kd = 10.0
	)			[inline]

Sets Tilt controler params.

If none are given, some are assumed by default:

• Bz = 20
• Kp = 17.0
• Ki = 10.0
• Kd = 10.0

  Parameters:

  	BZ	Blind zone size
  	Kp	Proportional constant
  	Ki	Integrative constant
  	Kd	Derivative constant

  Returns:

  function result. 1 is OK 0 is NOK

References P.

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Field Documentation

double cTrackingControler::AvgX

double cTrackingControler::AvgY

int cTrackingControler::ControlerDescription [private]

Referenced by DoLoop(), and SetControlerDescription().

struct { ... } cTrackingControler::CurrentPos

int cTrackingControler::derX

int cTrackingControler::derY

struct { ... } cTrackingControler::ErrorHistory

int cTrackingControler::LastXDir

int cTrackingControler::LastYDir

struct { ... } cTrackingControler::P [private]

Referenced by cTrackingControler(), DoLoop(), ResetPanKiSum(), ResetTiltKiSum(), SetCurrentPos(), SetPanControlParams(), SetTargetPos(), and SetTiltControlParams().

TypeControlParams cTrackingControler::Pan

int cTrackingControler::SumX

int cTrackingControler::SumY

struct { ... } cTrackingControler::TargetPos

TypeControlParams cTrackingControler::Tilt

int cTrackingControler::x[ERRORHISTORYSIZE]

unsigned int cTrackingControler::x

int cTrackingControler::y[ERRORHISTORYSIZE]

unsigned int cTrackingControler::y

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

• perception/pedestrians/pdhffc/pdhffc_pid.h
• perception/pedestrians/pdhffc/pdhffc_pid.cpp