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- <div id="projectname">It's the driver for a panproject_nametilt plataform made with dynamixel servos
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-<div class="textblock">Here are the data structures with brief descriptions:</div><div class="directory">
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-<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCDynamixel__Pan__Tilt.html" target="_self">CDynamixel_Pan_Tilt</a></td><td class="desc"></td></tr>
-<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCDynamyxel__Pan__Tilt.html" target="_self">CDynamyxel_Pan_Tilt</a></td><td class="desc">Class to control a Pan-Tilt plataform with two Dynamixel servos </td></tr>
-<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structControl__mode__pan__tilt.html" target="_self">Control_mode_pan_tilt</a></td><td class="desc">A struct to save the control mode of the servos </td></tr>
-<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structDynamixel__pan__tilt__compliance.html" target="_self">Dynamixel_pan_tilt_compliance</a></td><td class="desc">A struct to save the compliance control information </td></tr>
-<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structDynamixel__pan__tilt__config.html" target="_self">Dynamixel_pan_tilt_config</a></td><td class="desc">A struct to save the configuration information </td></tr>
-<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structDynamixel__pan__tilt__data.html" target="_self">Dynamixel_pan_tilt_data</a></td><td class="desc">A general struct to save data </td></tr>
-<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structDynamixel__pan__tilt__info.html" target="_self">Dynamixel_pan_tilt_info</a></td><td class="desc">A struct to save the Pan_Tilt information </td></tr>
-<tr id="row_7_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structDynamixel__pan__tilt__pid.html" target="_self">Dynamixel_pan_tilt_pid</a></td><td class="desc">A struct to save the pid control information </td></tr>
-<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structTorque__pan__tilt__moving__state.html" target="_self">Torque_pan_tilt_moving_state</a></td><td class="desc">A struct to save the torque moving state of the servos </td></tr>
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-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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-<title>It's the driver for a panproject_nametilt plataform made with dynamixel servos: CDynamixel_Pan_Tilt Class Reference</title>
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- <div id="projectname">It's the driver for a panproject_nametilt plataform made with dynamixel servos
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-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
-Public Member Functions</h2></td></tr>
-<tr class="memitem:a70eeda40cf79b86160f437e6f15b6c1e"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a70eeda40cf79b86160f437e6f15b6c1e">CDynamixel_Pan_Tilt</a> (std::string &name_pan_tilt, CDynamixelServer *dyn_server_pan_tilt, unsigned char dev_id_pan, unsigned char dev_id_tilt, dyn_version_t version_servos=dyn_version1)</td></tr>
-<tr class="memdesc:a70eeda40cf79b86160f437e6f15b6c1e"><td class="mdescLeft"> </td><td class="mdescRight">The class constructor. <a href="#a70eeda40cf79b86160f437e6f15b6c1e">More...</a><br /></td></tr>
-<tr class="separator:a70eeda40cf79b86160f437e6f15b6c1e"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:ad955d5429115e35405dcf998148fec31"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad955d5429115e35405dcf998148fec31"></a>
-virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#ad955d5429115e35405dcf998148fec31">~CDynamixel_Pan_Tilt</a> ()</td></tr>
-<tr class="memdesc:ad955d5429115e35405dcf998148fec31"><td class="mdescLeft"> </td><td class="mdescRight">The destructor. <br /></td></tr>
-<tr class="separator:ad955d5429115e35405dcf998148fec31"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a0c1cf233030cb6e587a7747a9721894f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">load_config</a> (<a class="el" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a> &config)</td></tr>
-<tr class="memdesc:a0c1cf233030cb6e587a7747a9721894f"><td class="mdescLeft"> </td><td class="mdescRight">Function for the configuration of the pan-tilt. If some parameters are changed internally, it's actualiced on the config variable. <a href="#a0c1cf233030cb6e587a7747a9721894f">More...</a><br /></td></tr>
-<tr class="separator:a0c1cf233030cb6e587a7747a9721894f"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:ace6bf516ea8008e0b617e7aaa9229f83"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#ace6bf516ea8008e0b617e7aaa9229f83">get_pan_tilt_info</a> (<a class="el" href="structDynamixel__pan__tilt__info.html">Dynamixel_pan_tilt_info</a> &info)</td></tr>
-<tr class="memdesc:ace6bf516ea8008e0b617e7aaa9229f83"><td class="mdescLeft"> </td><td class="mdescRight">Function to get the information of the pan-tilt. <a href="#ace6bf516ea8008e0b617e7aaa9229f83">More...</a><br /></td></tr>
-<tr class="separator:ace6bf516ea8008e0b617e7aaa9229f83"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a3110f9418cd6de0574355285de9fad40"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a> (<a class="el" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a> &config)</td></tr>
-<tr class="memdesc:a3110f9418cd6de0574355285de9fad40"><td class="mdescLeft"> </td><td class="mdescRight">Function to get the configuration of the pan-tilt. <a href="#a3110f9418cd6de0574355285de9fad40">More...</a><br /></td></tr>
-<tr class="separator:a3110f9418cd6de0574355285de9fad40"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a7a0e926f05793039514efca0e5d8b83f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a> (void)</td></tr>
-<tr class="memdesc:a7a0e926f05793039514efca0e5d8b83f"><td class="mdescLeft"> </td><td class="mdescRight">Function to get the position of both servos in degrees. <a href="#a7a0e926f05793039514efca0e5d8b83f">More...</a><br /></td></tr>
-<tr class="separator:a7a0e926f05793039514efca0e5d8b83f"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:aeb20364e3a07a4d2e447fdacf4c63846"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#aeb20364e3a07a4d2e447fdacf4c63846">get_pan_position</a> (void)</td></tr>
-<tr class="memdesc:aeb20364e3a07a4d2e447fdacf4c63846"><td class="mdescLeft"> </td><td class="mdescRight">Function to get the position of the pan servo in degrees. <a href="#aeb20364e3a07a4d2e447fdacf4c63846">More...</a><br /></td></tr>
-<tr class="separator:aeb20364e3a07a4d2e447fdacf4c63846"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a7f5541fe7c89c9812e396179a67064fb"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a7f5541fe7c89c9812e396179a67064fb">get_tilt_position</a> (void)</td></tr>
-<tr class="memdesc:a7f5541fe7c89c9812e396179a67064fb"><td class="mdescLeft"> </td><td class="mdescRight">Function to get the position of the tilt servo in degrees. <a href="#a7f5541fe7c89c9812e396179a67064fb">More...</a><br /></td></tr>
-<tr class="separator:a7f5541fe7c89c9812e396179a67064fb"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a4579aab486bced3d8a19b5ff0b001847"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a4579aab486bced3d8a19b5ff0b001847">move_absolute_angle</a> (<a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &angle, <a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &speed)</td></tr>
-<tr class="memdesc:a4579aab486bced3d8a19b5ff0b001847"><td class="mdescLeft"> </td><td class="mdescRight">Function to move the pan-tilt to a specific position by a specific speed. If some of the values passed are out of range, they'll be changed to the value of the limit. <a href="#a4579aab486bced3d8a19b5ff0b001847">More...</a><br /></td></tr>
-<tr class="separator:a4579aab486bced3d8a19b5ff0b001847"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:ad1b9601a478923ae2edd418cc14b570f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#ad1b9601a478923ae2edd418cc14b570f">move_relative_angle</a> (<a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &angle, <a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &speed)</td></tr>
-<tr class="memdesc:ad1b9601a478923ae2edd418cc14b570f"><td class="mdescLeft"> </td><td class="mdescRight">Function to move the pan-tilt a specific angle relative to the current position by a specific speed. If some of the values passed are out of range, they'll be changed to the value of the limit. <a href="#ad1b9601a478923ae2edd418cc14b570f">More...</a><br /></td></tr>
-<tr class="separator:ad1b9601a478923ae2edd418cc14b570f"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:acc9effb2fbf30fd55cb70c4a629bc7d1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">move_torque</a> (<a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &speed)</td></tr>
-<tr class="memdesc:acc9effb2fbf30fd55cb70c4a629bc7d1"><td class="mdescLeft"> </td><td class="mdescRight">Function to move the pan-tilt on endless mode for both servos. If some of the values passed are out of range, they'll be changed to the value of the limit. <a href="#acc9effb2fbf30fd55cb70c4a629bc7d1">More...</a><br /></td></tr>
-<tr class="separator:acc9effb2fbf30fd55cb70c4a629bc7d1"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:af4ecc2d80ee122db640a9377b164c7f9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#af4ecc2d80ee122db640a9377b164c7f9">move_absolute_angle_pan</a> (double &angle, double &speed)</td></tr>
-<tr class="memdesc:af4ecc2d80ee122db640a9377b164c7f9"><td class="mdescLeft"> </td><td class="mdescRight">Function to move the pan servo to a specific position by a specific speed. If some of the values passed are out of range, they'll be changed to the value of the limit. <a href="#af4ecc2d80ee122db640a9377b164c7f9">More...</a><br /></td></tr>
-<tr class="separator:af4ecc2d80ee122db640a9377b164c7f9"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a1f07aaa4ea74a6209a26af4c9f6da0d7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a1f07aaa4ea74a6209a26af4c9f6da0d7">move_relative_angle_pan</a> (double &angle, double &speed)</td></tr>
-<tr class="memdesc:a1f07aaa4ea74a6209a26af4c9f6da0d7"><td class="mdescLeft"> </td><td class="mdescRight">Function to move the pan servo a specific angle relative to the current position by a specific speed. If some of the values passed are out of range, they'll be changed to the value of the limit. <a href="#a1f07aaa4ea74a6209a26af4c9f6da0d7">More...</a><br /></td></tr>
-<tr class="separator:a1f07aaa4ea74a6209a26af4c9f6da0d7"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:aa2a78fc58a8583d1567e0e61ae583559"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#aa2a78fc58a8583d1567e0e61ae583559">move_torque_pan</a> (double &speed)</td></tr>
-<tr class="memdesc:aa2a78fc58a8583d1567e0e61ae583559"><td class="mdescLeft"> </td><td class="mdescRight">Function to move the pan servo on endless mode. If the value passed is out of range, it'll be changed to the value of the limit. <a href="#aa2a78fc58a8583d1567e0e61ae583559">More...</a><br /></td></tr>
-<tr class="separator:aa2a78fc58a8583d1567e0e61ae583559"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a312e7e5d4bd8ccbbb9807d4d1ce2f5b6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a312e7e5d4bd8ccbbb9807d4d1ce2f5b6">move_absolute_angle_tilt</a> (double &angle, double &speed)</td></tr>
-<tr class="memdesc:a312e7e5d4bd8ccbbb9807d4d1ce2f5b6"><td class="mdescLeft"> </td><td class="mdescRight">Function to move the pan servo to a specific position by a specific speed. If some of the values passed are out of range, they'll be changed to the value of the limit. <a href="#a312e7e5d4bd8ccbbb9807d4d1ce2f5b6">More...</a><br /></td></tr>
-<tr class="separator:a312e7e5d4bd8ccbbb9807d4d1ce2f5b6"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a1fd325c2b9e515ff25bb139cc13df5ca"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a1fd325c2b9e515ff25bb139cc13df5ca">move_relative_angle_tilt</a> (double &angle, double &speed)</td></tr>
-<tr class="memdesc:a1fd325c2b9e515ff25bb139cc13df5ca"><td class="mdescLeft"> </td><td class="mdescRight">Function to move the tilt servo a specific angle relative to the current position by a specific speed. If some of the values passed are out of range, they'll be changed to the value of the limit. <a href="#a1fd325c2b9e515ff25bb139cc13df5ca">More...</a><br /></td></tr>
-<tr class="separator:a1fd325c2b9e515ff25bb139cc13df5ca"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a82ac164454b67542e3172d1971a15bd7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a82ac164454b67542e3172d1971a15bd7">move_torque_tilt</a> (double &speed)</td></tr>
-<tr class="memdesc:a82ac164454b67542e3172d1971a15bd7"><td class="mdescLeft"> </td><td class="mdescRight">Function to move the tilt servo on endless mode. If the value passed is out of range, it'll be changed to the value of the limit. <a href="#a82ac164454b67542e3172d1971a15bd7">More...</a><br /></td></tr>
-<tr class="separator:a82ac164454b67542e3172d1971a15bd7"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:ad4b3a35c2e651908bd3f296667c111aa"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad4b3a35c2e651908bd3f296667c111aa"></a>
-void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">stop</a> (void)</td></tr>
-<tr class="memdesc:ad4b3a35c2e651908bd3f296667c111aa"><td class="mdescLeft"> </td><td class="mdescRight">Function to stop the current movement of the pan-tilt. <br /></td></tr>
-<tr class="separator:ad4b3a35c2e651908bd3f296667c111aa"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a9fc2e401160aa547dafde7727a8fd705"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">get_compliance_control</a> (<a class="el" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> &compliance)</td></tr>
-<tr class="memdesc:a9fc2e401160aa547dafde7727a8fd705"><td class="mdescLeft"> </td><td class="mdescRight">Function to get the compliance configuration of both servos. <a href="#a9fc2e401160aa547dafde7727a8fd705">More...</a><br /></td></tr>
-<tr class="separator:a9fc2e401160aa547dafde7727a8fd705"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a75b9ee09cc17f0f89636ec9b0b505aa2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a75b9ee09cc17f0f89636ec9b0b505aa2">set_compliance_control</a> (<a class="el" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> &compliance)</td></tr>
-<tr class="memdesc:a75b9ee09cc17f0f89636ec9b0b505aa2"><td class="mdescLeft"> </td><td class="mdescRight">Function to set the compliance configuration of both servos. <a href="#a75b9ee09cc17f0f89636ec9b0b505aa2">More...</a><br /></td></tr>
-<tr class="separator:a75b9ee09cc17f0f89636ec9b0b505aa2"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:af3511d52e4ab75ecab88e1048be115e7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">get_pid_control</a> (<a class="el" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> &pid)</td></tr>
-<tr class="memdesc:af3511d52e4ab75ecab88e1048be115e7"><td class="mdescLeft"> </td><td class="mdescRight">Function to get the PID values of both servos. <a href="#af3511d52e4ab75ecab88e1048be115e7">More...</a><br /></td></tr>
-<tr class="separator:af3511d52e4ab75ecab88e1048be115e7"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a12b2332f5fb1d9544b7c46ca0b7b68ff"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a12b2332f5fb1d9544b7c46ca0b7b68ff">set_pid_control</a> (<a class="el" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> &pid)</td></tr>
-<tr class="memdesc:a12b2332f5fb1d9544b7c46ca0b7b68ff"><td class="mdescLeft"> </td><td class="mdescRight">Function to set the PID values of both servos. <a href="#a12b2332f5fb1d9544b7c46ca0b7b68ff">More...</a><br /></td></tr>
-<tr class="separator:a12b2332f5fb1d9544b7c46ca0b7b68ff"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a0a17ec8df1a85377d9a43dd586dfb707"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a> (void)</td></tr>
-<tr class="memdesc:a0a17ec8df1a85377d9a43dd586dfb707"><td class="mdescLeft"> </td><td class="mdescRight">User firendly function to print the absolute position of the pan-tilt. <a href="#a0a17ec8df1a85377d9a43dd586dfb707">More...</a><br /></td></tr>
-<tr class="separator:a0a17ec8df1a85377d9a43dd586dfb707"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a9f6c1c1e15f715520f45f195ce8f6a97"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a> (<a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> data)</td></tr>
-<tr class="memdesc:a9f6c1c1e15f715520f45f195ce8f6a97"><td class="mdescLeft"> </td><td class="mdescRight">User friendly function to print any pan-tilt data. <a href="#a9f6c1c1e15f715520f45f195ce8f6a97">More...</a><br /></td></tr>
-<tr class="separator:a9f6c1c1e15f715520f45f195ce8f6a97"><td class="memSeparator" colspan="2"> </td></tr>
-</table><table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
-Protected Member Functions</h2></td></tr>
-<tr class="memitem:a807b976322abcbd06bec90c51ac7cfd9"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a807b976322abcbd06bec90c51ac7cfd9"></a>
-void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a807b976322abcbd06bec90c51ac7cfd9">default_parameters</a> (void)</td></tr>
-<tr class="memdesc:a807b976322abcbd06bec90c51ac7cfd9"><td class="mdescLeft"> </td><td class="mdescRight">Function to set all the parameters to the default value. <br /></td></tr>
-<tr class="separator:a807b976322abcbd06bec90c51ac7cfd9"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:af8ef151d78af2866bd9269bc32ffb747"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#af8ef151d78af2866bd9269bc32ffb747">actualice_parameters</a> (void)</td></tr>
-<tr class="memdesc:af8ef151d78af2866bd9269bc32ffb747"><td class="mdescLeft"> </td><td class="mdescRight">Function to actualice all the variables with all the parameters of both servos. <a href="#af8ef151d78af2866bd9269bc32ffb747">More...</a><br /></td></tr>
-<tr class="separator:af8ef151d78af2866bd9269bc32ffb747"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a95e6138ad6fd8db61a0da0d463abca8c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a95e6138ad6fd8db61a0da0d463abca8c"></a>
-void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a95e6138ad6fd8db61a0da0d463abca8c">actualice_config</a> (void)</td></tr>
-<tr class="memdesc:a95e6138ad6fd8db61a0da0d463abca8c"><td class="mdescLeft"> </td><td class="mdescRight">Function to actualice the variable of configuration of both servos. <br /></td></tr>
-<tr class="separator:a95e6138ad6fd8db61a0da0d463abca8c"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a9e2ba4cccc53f86d1eaf1d6be56aa33a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9e2ba4cccc53f86d1eaf1d6be56aa33a"></a>
-void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a9e2ba4cccc53f86d1eaf1d6be56aa33a">actualice_compliance_control</a> (void)</td></tr>
-<tr class="memdesc:a9e2ba4cccc53f86d1eaf1d6be56aa33a"><td class="mdescLeft"> </td><td class="mdescRight">Function to actualice the variable of compliance control of the pan-tilt. <br /></td></tr>
-<tr class="separator:a9e2ba4cccc53f86d1eaf1d6be56aa33a"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a771a12ec9ca210a5f27f11994918da65"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a771a12ec9ca210a5f27f11994918da65"></a>
-void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a771a12ec9ca210a5f27f11994918da65">actualice_angle_limits</a> (void)</td></tr>
-<tr class="memdesc:a771a12ec9ca210a5f27f11994918da65"><td class="mdescLeft"> </td><td class="mdescRight">Function to actualice the variable of the angle limits of the pan-tilt. <br /></td></tr>
-<tr class="separator:a771a12ec9ca210a5f27f11994918da65"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a0fd919d8c6d339a4d3a8e6ba1f35727c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0fd919d8c6d339a4d3a8e6ba1f35727c"></a>
-void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a0fd919d8c6d339a4d3a8e6ba1f35727c">actualice_control_mode</a> (void)</td></tr>
-<tr class="memdesc:a0fd919d8c6d339a4d3a8e6ba1f35727c"><td class="mdescLeft"> </td><td class="mdescRight">Function to actualice the variable of control mode of the pan-tilt. <br /></td></tr>
-<tr class="separator:a0fd919d8c6d339a4d3a8e6ba1f35727c"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a9f3a9632ef385372a122dbc8560c3602"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9f3a9632ef385372a122dbc8560c3602"></a>
-void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a9f3a9632ef385372a122dbc8560c3602">actualice_pid_control</a> (void)</td></tr>
-<tr class="memdesc:a9f3a9632ef385372a122dbc8560c3602"><td class="mdescLeft"> </td><td class="mdescRight">Function to actualice the variable of pid control of the pan-tilt. <br /></td></tr>
-<tr class="separator:a9f3a9632ef385372a122dbc8560c3602"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a30d96265819910c9b39b915963fbfed2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a30d96265819910c9b39b915963fbfed2"></a>
-void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a30d96265819910c9b39b915963fbfed2">actualice_info</a> (void)</td></tr>
-<tr class="memdesc:a30d96265819910c9b39b915963fbfed2"><td class="mdescLeft"> </td><td class="mdescRight">Function to actualice the variable with the information of the pan-tilt. <br /></td></tr>
-<tr class="separator:a30d96265819910c9b39b915963fbfed2"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a7c6ed83d34470119c13c140a47473f55"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7c6ed83d34470119c13c140a47473f55"></a>
-void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a7c6ed83d34470119c13c140a47473f55">reset_torque_moving_state</a> (void)</td></tr>
-<tr class="memdesc:a7c6ed83d34470119c13c140a47473f55"><td class="mdescLeft"> </td><td class="mdescRight">Function to set the both servos_state to stopped. <br /></td></tr>
-<tr class="separator:a7c6ed83d34470119c13c140a47473f55"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:ae592a3b88c267260b2f0bb844cbc31b2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2">is_torque_moving</a> (bool &b)</td></tr>
-<tr class="memdesc:ae592a3b88c267260b2f0bb844cbc31b2"><td class="mdescLeft"> </td><td class="mdescRight">Function that returns if any servo is moving on torque mode. <a href="#ae592a3b88c267260b2f0bb844cbc31b2">More...</a><br /></td></tr>
-<tr class="separator:ae592a3b88c267260b2f0bb844cbc31b2"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a4c37ba8c5e67c76bf5faddb1d6ade76d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">set_moving_state_pan</a> (Torque_moving_state tms)</td></tr>
-<tr class="memdesc:a4c37ba8c5e67c76bf5faddb1d6ade76d"><td class="mdescLeft"> </td><td class="mdescRight">Function to set a value on pan's moving state. <a href="#a4c37ba8c5e67c76bf5faddb1d6ade76d">More...</a><br /></td></tr>
-<tr class="separator:a4c37ba8c5e67c76bf5faddb1d6ade76d"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:acb5001b7d7d4c84e478ac3f331e49dc6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#acb5001b7d7d4c84e478ac3f331e49dc6">get_moving_state_pan</a> (Torque_moving_state &tms)</td></tr>
-<tr class="memdesc:acb5001b7d7d4c84e478ac3f331e49dc6"><td class="mdescLeft"> </td><td class="mdescRight">Function to get a value on pan's moving state. <a href="#acb5001b7d7d4c84e478ac3f331e49dc6">More...</a><br /></td></tr>
-<tr class="separator:acb5001b7d7d4c84e478ac3f331e49dc6"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a34ff2fa229a07dbd1554811a6a4461b1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">set_moving_state_tilt</a> (Torque_moving_state tms)</td></tr>
-<tr class="memdesc:a34ff2fa229a07dbd1554811a6a4461b1"><td class="mdescLeft"> </td><td class="mdescRight">Function to set a value on tilt's moving state. <a href="#a34ff2fa229a07dbd1554811a6a4461b1">More...</a><br /></td></tr>
-<tr class="separator:a34ff2fa229a07dbd1554811a6a4461b1"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a63d0cb761dd51c259fa5fecba5635d0e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a63d0cb761dd51c259fa5fecba5635d0e">get_moving_state_tilt</a> (Torque_moving_state &tms)</td></tr>
-<tr class="memdesc:a63d0cb761dd51c259fa5fecba5635d0e"><td class="mdescLeft"> </td><td class="mdescRight">Function to get a value on tilt's moving state. <a href="#a63d0cb761dd51c259fa5fecba5635d0e">More...</a><br /></td></tr>
-<tr class="separator:a63d0cb761dd51c259fa5fecba5635d0e"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a355b9c2a831c51cb833031e4d28d3118"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a355b9c2a831c51cb833031e4d28d3118">get_checking_hysteresis_pan</a> (double effort)</td></tr>
-<tr class="memdesc:a355b9c2a831c51cb833031e4d28d3118"><td class="mdescLeft"> </td><td class="mdescRight">Function to calculate the angle hysteresis depending on the desired effort for the pan servo. <a href="#a355b9c2a831c51cb833031e4d28d3118">More...</a><br /></td></tr>
-<tr class="separator:a355b9c2a831c51cb833031e4d28d3118"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:afdbc56d736257a36602ed7b7abee04b8"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#afdbc56d736257a36602ed7b7abee04b8">get_checking_hysteresis_tilt</a> (double effort)</td></tr>
-<tr class="memdesc:afdbc56d736257a36602ed7b7abee04b8"><td class="mdescLeft"> </td><td class="mdescRight">Function to calculate the angle hysteresis depending on the desired effort for the tilt servo. <a href="#afdbc56d736257a36602ed7b7abee04b8">More...</a><br /></td></tr>
-<tr class="separator:afdbc56d736257a36602ed7b7abee04b8"><td class="memSeparator" colspan="2"> </td></tr>
-</table><table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-methods"></a>
-Static Protected Member Functions</h2></td></tr>
-<tr class="memitem:a53fdb60e41ee610f3f8810fb56563dfa"><td class="memItemLeft" align="right" valign="top">static void * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCDynamixel__Pan__Tilt.html#a53fdb60e41ee610f3f8810fb56563dfa">checking_angle_limits</a> (void *arg)</td></tr>
-<tr class="memdesc:a53fdb60e41ee610f3f8810fb56563dfa"><td class="mdescLeft"> </td><td class="mdescRight">Function to be called for the thread in charge to check the angle limits on torque movement. <a href="#a53fdb60e41ee610f3f8810fb56563dfa">More...</a><br /></td></tr>
-<tr class="separator:a53fdb60e41ee610f3f8810fb56563dfa"><td class="memSeparator" colspan="2"> </td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#_a0">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8h_source.html#l00224">224</a> of file <a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>.</p>
-</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
-<a class="anchor" id="a70eeda40cf79b86160f437e6f15b6c1e"></a>
-<div class="memitem">
-<div class="memproto">
- <table class="memname">
- <tr>
- <td class="memname">CDynamixel_Pan_Tilt::CDynamixel_Pan_Tilt </td>
- <td>(</td>
- <td class="paramtype">std::string & </td>
- <td class="paramname"><em>name_pan_tilt</em>, </td>
- </tr>
- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">CDynamixelServer * </td>
- <td class="paramname"><em>dyn_server_pan_tilt</em>, </td>
- </tr>
- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">unsigned char </td>
- <td class="paramname"><em>dev_id_pan</em>, </td>
- </tr>
- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">unsigned char </td>
- <td class="paramname"><em>dev_id_tilt</em>, </td>
- </tr>
- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">dyn_version_t </td>
- <td class="paramname"><em>version_servos</em> = <code>dyn_version1</code> </td>
- </tr>
- <tr>
- <td></td>
- <td>)</td>
- <td></td><td></td>
- </tr>
- </table>
-</div><div class="memdoc">
-<p>------------------------------------------------—Constructors & Destructors</p>
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">name_pan_tilt</td><td>The user friendly name for the pan-tilt. </td></tr>
- <tr><td class="paramname">dyn_server_pan_tilt</td><td>The server for the communication. </td></tr>
- <tr><td class="paramname">dev_id_pan</td><td>The ID number for the pan servo. </td></tr>
- <tr><td class="paramname">dev_id_tilt</td><td>The ID number for the tilt servo. </td></tr>
- </table>
- </dd>
-</dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00032">32</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
-
-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00637">actualice_parameters()</a>, <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00553">checking_angle_limits()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00921">reset_torque_moving_state()</a>.</p>
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-<h2 class="groupheader">Member Function Documentation</h2>
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- <td class="memname">void CDynamixel_Pan_Tilt::actualice_parameters </td>
- <td>(</td>
- <td class="paramtype">void </td>
- <td class="paramname"></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
- <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">protected</span></span> </td>
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-<p>------------------------------------------------——Movement</p>
-<p>---------------------------------------------—Actualice servo parameters </p>
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-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00637">637</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00662">actualice_angle_limits()</a>, <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00709">actualice_compliance_control()</a>, <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00647">actualice_config()</a>, <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00670">actualice_control_mode()</a>, <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00696">actualice_info()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00683">actualice_pid_control()</a>.</p>
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-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00032">CDynamixel_Pan_Tilt()</a>.</p>
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- <td class="memname">void * CDynamixel_Pan_Tilt::checking_angle_limits </td>
- <td>(</td>
- <td class="paramtype">void * </td>
- <td class="paramname"><em>arg</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
- <td class="mlabels-right">
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-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">arg</td><td>A pointer to the class. </td></tr>
- </table>
- </dd>
-</dl>
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-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00553">553</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00950">get_moving_state_pan()</a>, <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00957">get_moving_state_tilt()</a>, <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00791">get_position()</a>, <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00929">is_torque_moving()</a>, <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00936">set_moving_state_pan()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00943">set_moving_state_tilt()</a>.</p>
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-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00032">CDynamixel_Pan_Tilt()</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::is_torque_moving </td>
- <td>(</td>
- <td class="paramtype">bool & </td>
- <td class="paramname"><em>b</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
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-<span class="mlabels"><span class="mlabel">protected</span></span> </td>
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-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">b</td><td>The variable where is going to be returned the value. </td></tr>
- </table>
- </dd>
-</dl>
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-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00929">929</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00553">checking_angle_limits()</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::set_moving_state_pan </td>
- <td>(</td>
- <td class="paramtype">Torque_moving_state </td>
- <td class="paramname"><em>tms</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
- <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">protected</span></span> </td>
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-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">tms</td><td>The value desired. </td></tr>
- </table>
- </dd>
-</dl>
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-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00936">936</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00553">checking_angle_limits()</a>, <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00380">move_absolute_angle_pan()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00488">move_torque_pan()</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::get_moving_state_pan </td>
- <td>(</td>
- <td class="paramtype">Torque_moving_state & </td>
- <td class="paramname"><em>tms</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
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-<span class="mlabels"><span class="mlabel">protected</span></span> </td>
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-</table>
-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">tms</td><td>The variable to save the value of the pan's moving state. </td></tr>
- </table>
- </dd>
-</dl>
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-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00950">950</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00553">checking_angle_limits()</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::set_moving_state_tilt </td>
- <td>(</td>
- <td class="paramtype">Torque_moving_state </td>
- <td class="paramname"><em>tms</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
- <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">protected</span></span> </td>
- </tr>
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-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">tms</td><td>The value desired. </td></tr>
- </table>
- </dd>
-</dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00943">943</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
-
-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00553">checking_angle_limits()</a>, <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00422">move_absolute_angle_tilt()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00521">move_torque_tilt()</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::get_moving_state_tilt </td>
- <td>(</td>
- <td class="paramtype">Torque_moving_state & </td>
- <td class="paramname"><em>tms</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
- <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">protected</span></span> </td>
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-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">tms</td><td>The variable to save the value of the tilt's moving state. </td></tr>
- </table>
- </dd>
-</dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00957">957</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00553">checking_angle_limits()</a>.</p>
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- <td class="memname">double CDynamixel_Pan_Tilt::get_checking_hysteresis_pan </td>
- <td>(</td>
- <td class="paramtype">double </td>
- <td class="paramname"><em>effort</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
- <td class="mlabels-right">
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-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">effort</td><td>The desired effort for the pan servo.</td></tr>
- </table>
- </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>The hysteresis angle for the pan servo. </dd></dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00964">964</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00488">move_torque_pan()</a>.</p>
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- <td class="memname">double CDynamixel_Pan_Tilt::get_checking_hysteresis_tilt </td>
- <td>(</td>
- <td class="paramtype">double </td>
- <td class="paramname"><em>effort</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
- <td class="mlabels-right">
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-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">effort</td><td>The desired effort for the tilt servo.</td></tr>
- </table>
- </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>The hysteresis angle for the tilt servo. </dd></dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00976">976</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00521">move_torque_tilt()</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::load_config </td>
- <td>(</td>
- <td class="paramtype"><a class="el" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a> & </td>
- <td class="paramname"><em>config</em></td><td>)</td>
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-<p>---------------------------------------------——Constructors & Destructors</p>
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">config</td><td>The configuration structure.</td></tr>
- </table>
- </dd>
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-<p>--------------------------------------------------—Configuration </p>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#a6">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00127">127</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00647">actualice_config()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00877">get_pan_tilt_config()</a>.</p>
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- <td>(</td>
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-<dl class="params"><dt>Parameters</dt><dd>
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- <tr><td class="paramname">info</td><td>The variable where it'll be saved the information. </td></tr>
- </table>
- </dd>
-</dl>
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-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00896">896</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::get_pan_tilt_config </td>
- <td>(</td>
- <td class="paramtype"><a class="el" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a> & </td>
- <td class="paramname"><em>config</em></td><td>)</td>
- <td></td>
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-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">config</td><td>The variable where it'll be saved the configuration's information. </td></tr>
- </table>
- </dd>
-</dl>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#a7">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00877">877</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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- <td class="memname"><a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> CDynamixel_Pan_Tilt::get_position </td>
- <td>(</td>
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-<p>------------------------------------------——Actualice servo parameters</p>
-<dl class="section return"><dt>Returns</dt><dd>A struct with the angles of both servos in degrees.</dd></dl>
-<p>---------------------------------------------------—Get & Set </p>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#a19">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00791">791</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00801">get_pan_position()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00814">get_tilt_position()</a>.</p>
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-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00553">checking_angle_limits()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00992">print_current_position()</a>.</p>
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- <td class="memname">double CDynamixel_Pan_Tilt::get_pan_position </td>
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- <td></td>
- </tr>
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-<dl class="section return"><dt>Returns</dt><dd>The angle of the pan servo in degrees. </dd></dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00801">801</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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- <td>(</td>
- <td class="paramtype">void </td>
- <td class="paramname"></td><td>)</td>
- <td></td>
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-<dl class="section return"><dt>Returns</dt><dd>The angle of the tilt servo in degrees. </dd></dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00814">814</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::move_absolute_angle </td>
- <td>(</td>
- <td class="paramtype"><a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> & </td>
- <td class="paramname"><em>angle</em>, </td>
- </tr>
- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype"><a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> & </td>
- <td class="paramname"><em>speed</em> </td>
- </tr>
- <tr>
- <td></td>
- <td>)</td>
- <td></td><td></td>
- </tr>
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-<p>-----------------------------------------------——Configuration</p>
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">angle</td><td>The specific position in degrees for both servos in a struct. </td></tr>
- <tr><td class="paramname">speed</td><td>The specific speed in degrees/second for both servos in a struct.</td></tr>
- </table>
- </dd>
-</dl>
-<p>---------------------------------------------------—Movement </p>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#a24">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00374">374</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00380">move_absolute_angle_pan()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00422">move_absolute_angle_tilt()</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::move_relative_angle </td>
- <td>(</td>
- <td class="paramtype"><a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> & </td>
- <td class="paramname"><em>angle</em>, </td>
- </tr>
- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype"><a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> & </td>
- <td class="paramname"><em>speed</em> </td>
- </tr>
- <tr>
- <td></td>
- <td>)</td>
- <td></td><td></td>
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- </table>
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-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">angle</td><td>The specific angle in degrees to move from the current position for both servos in a struct. It's value is changed to the goal position. </td></tr>
- <tr><td class="paramname">speed</td><td>The specific speed in degrees/second for both servos in a struct. </td></tr>
- </table>
- </dd>
-</dl>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#a27">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00464">464</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00470">move_relative_angle_pan()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00476">move_relative_angle_tilt()</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::move_torque </td>
- <td>(</td>
- <td class="paramtype"><a class="el" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> & </td>
- <td class="paramname"><em>speed</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">speed</td><td>A struct with the specific speeds for the movemenet. It's a % of the maximum torque. </td></tr>
- </table>
- </dd>
-</dl>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#a26">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00482">482</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00488">move_torque_pan()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00521">move_torque_tilt()</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::move_absolute_angle_pan </td>
- <td>(</td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>angle</em>, </td>
- </tr>
- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>speed</em> </td>
- </tr>
- <tr>
- <td></td>
- <td>)</td>
- <td></td><td></td>
- </tr>
- </table>
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-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">angle</td><td>The specific postion in degrees. </td></tr>
- <tr><td class="paramname">speed</td><td>The specific speed for the movement in degrees/second. </td></tr>
- </table>
- </dd>
-</dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00380">380</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00936">set_moving_state_pan()</a>.</p>
-
-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00374">move_absolute_angle()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00470">move_relative_angle_pan()</a>.</p>
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- <td>(</td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>angle</em>, </td>
- </tr>
- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>speed</em> </td>
- </tr>
- <tr>
- <td></td>
- <td>)</td>
- <td></td><td></td>
- </tr>
- </table>
-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">angle</td><td>The specific angle to move from the current position in degrees. It's value is changed to the goal position. </td></tr>
- <tr><td class="paramname">speed</td><td>The specific speed of the movement in degrees/second. </td></tr>
- </table>
- </dd>
-</dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00470">470</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00380">move_absolute_angle_pan()</a>.</p>
-
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- <tr>
- <td class="memname">void CDynamixel_Pan_Tilt::move_torque_pan </td>
- <td>(</td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>speed</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">speed</td><td>The specific speed for the movemenet. It's a % of the maximum torque. </td></tr>
- </table>
- </dd>
-</dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00488">488</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00964">get_checking_hysteresis_pan()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00936">set_moving_state_pan()</a>.</p>
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-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00482">move_torque()</a>.</p>
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- <tr>
- <td class="memname">void CDynamixel_Pan_Tilt::move_absolute_angle_tilt </td>
- <td>(</td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>angle</em>, </td>
- </tr>
- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>speed</em> </td>
- </tr>
- <tr>
- <td></td>
- <td>)</td>
- <td></td><td></td>
- </tr>
- </table>
-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">angle</td><td>The specific postion in degrees. </td></tr>
- <tr><td class="paramname">speed</td><td>The specific speed for the movement in degrees/second. </td></tr>
- </table>
- </dd>
-</dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00422">422</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
-
-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00943">set_moving_state_tilt()</a>.</p>
-
-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00374">move_absolute_angle()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00476">move_relative_angle_tilt()</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::move_relative_angle_tilt </td>
- <td>(</td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>angle</em>, </td>
- </tr>
- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>speed</em> </td>
- </tr>
- <tr>
- <td></td>
- <td>)</td>
- <td></td><td></td>
- </tr>
- </table>
-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">angle</td><td>The specific angle to move from the current position in degrees. It's value is changed to the goal position. </td></tr>
- <tr><td class="paramname">speed</td><td>The specific speed of the movement in degrees/second. </td></tr>
- </table>
- </dd>
-</dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00476">476</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00422">move_absolute_angle_tilt()</a>.</p>
-
-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00464">move_relative_angle()</a>.</p>
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-<a class="anchor" id="a82ac164454b67542e3172d1971a15bd7"></a>
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- <td class="memname">void CDynamixel_Pan_Tilt::move_torque_tilt </td>
- <td>(</td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>speed</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">speed</td><td>The specific speed for the movemenet. It's a % of the maximum torque. </td></tr>
- </table>
- </dd>
-</dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00521">521</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>References <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00976">get_checking_hysteresis_tilt()</a>, and <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00943">set_moving_state_tilt()</a>.</p>
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-<p>Referenced by <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00482">move_torque()</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::get_compliance_control </td>
- <td>(</td>
- <td class="paramtype"><a class="el" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> & </td>
- <td class="paramname"><em>compliance</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">compliance</td><td>The variable to save the configuration data. </td></tr>
- </table>
- </dd>
-</dl>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#a13">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00827">827</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::set_compliance_control </td>
- <td>(</td>
- <td class="paramtype"><a class="el" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> & </td>
- <td class="paramname"><em>compliance</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">compliance</td><td>The variable to get the configuration data. </td></tr>
- </table>
- </dd>
-</dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00833">833</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::get_pid_control </td>
- <td>(</td>
- <td class="paramtype"><a class="el" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> & </td>
- <td class="paramname"><em>pid</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">pid</td><td>The variable to save the PID values. </td></tr>
- </table>
- </dd>
-</dl>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#a11">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00849">849</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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- <td class="memname">void CDynamixel_Pan_Tilt::set_pid_control </td>
- <td>(</td>
- <td class="paramtype"><a class="el" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> & </td>
- <td class="paramname"><em>pid</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
-</div><div class="memdoc">
-<dl class="params"><dt>Parameters</dt><dd>
- <table class="params">
- <tr><td class="paramname">pid</td><td>The variable to get the PID values. </td></tr>
- </table>
- </dd>
-</dl>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8cpp_source.html#l00862">862</a> of file <a class="el" href="dynamixel__pan__tilt_8cpp_source.html">dynamixel_pan_tilt.cpp</a>.</p>
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-<p>------------------------------------------------——Get & Set</p>
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-<div class="title">CDynamyxel_Pan_Tilt Class Reference</div> </div>
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-
-<p>Class to control a Pan-Tilt plataform with two Dynamixel servos.
- <a href="classCDynamyxel__Pan__Tilt.html#details">More...</a></p>
-
-<p><code>#include <<a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>></code></p>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>This class is created to control a Pan-Tilt plataform with two servos. It allows you to get the position of both servos or to get the position of any servo. It also allows you to move the Pan-Tilt to a desired position or to a desired position relative to the current position or on torque mode.</p>
-<p>The best way to configure the Pan-Tilt is with a configuration file in XML. You can see the schema of the configuration file at .../src/xml/dynamixel_pan_tilt_cfg_file.xsd. The optional parameters with their default values are:</p>
-<p><b>-</b> alarm_shtdwn: 5 (Input Voltage error and Overheating error) <b>-</b> temp_limit: 85 <b>-</b> max_torque: 100 <b>-</b> check_hyst_offset: 2.404867 <b>-</b> check_hyst_slope: 0.20688</p>
-<p>You can also configurate the following parameters specifically for each servo (if not, both servos get the same configuration value):</p>
-<p><b>-</b> cw_comp_margin <b>-</b> ccw_comp_margin <b>-</b> cw_comp_slope <b>-</b> ccw_comp_slope <b>-</b> punch <b>-</b> kp <b>-</b> ki <b>-</b> kd <b>-</b> max_angle <b>-</b> min_angle <b>-</b> check_hyst_offset <b>-</b> check_hyst_slope</p>
-<p>It's important to note that the values of min and max angle must be the physical angle limits for the plataform and not overpass this angles is checked with another thread during the torque movement. </p>
-</div><hr/>The documentation for this class was generated from the following file:<ul>
-<li>/home/alopez/dynamixel_pan_tilt/trunk/src/<a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a></li>
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-</td><td></td></tr>
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-<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// Copyright (C) 2016 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.</span></div>
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-<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">//</span></div>
-<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// This file is part of iriutils</span></div>
-<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// iriutils is free software: you can redistribute it and/or modify</span></div>
-<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// it under the terms of the GNU Lesser General Public License as published by</span></div>
-<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// the Free Software Foundation, either version 3 of the License, or</span></div>
-<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// at your option) any later version.</span></div>
-<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">//</span></div>
-<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// This program is distributed in the hope that it will be useful,</span></div>
-<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
-<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span></div>
-<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">// GNU Lesser General Public License for more details.</span></div>
-<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">//</span></div>
-<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// You should have received a copy of the GNU Lesser General Public License</span></div>
-<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">// along with this program. If not, see <http://www.gnu.org/licenses/>.</span></div>
-<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div>
-<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "dynamixel_pan_tilt.h"</span></div>
-<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <sys/stat.h></span></div>
-<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include <fstream></span></div>
-<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <iostream></span></div>
-<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include <sstream></span></div>
-<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include <math.h></span></div>
-<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#include <unistd.h></span></div>
-<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#ifdef _HAVE_XSD</span></div>
-<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include "xml/dynamixel_pan_tilt_cfg_file.hxx"</span></div>
-<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#endif</span></div>
-<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
-<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div>
-<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a70eeda40cf79b86160f437e6f15b6c1e"> 32</a></span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a70eeda40cf79b86160f437e6f15b6c1e">CDynamixel_Pan_Tilt::CDynamixel_Pan_Tilt</a>(std::string& name_pan_tilt, CDynamixelServer *dyn_server_pan_tilt, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> dev_id_pan, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> dev_id_tilt, dyn_version_t version_servos)</div>
-<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> {</div>
-<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  this->pan = NULL;</div>
-<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  this->tilt = NULL;</div>
-<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  exiting = <span class="keyword">false</span>;</div>
-<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a7c6ed83d34470119c13c140a47473f55">reset_torque_moving_state</a>();</div>
-<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  this->checking_hysteresis.pan = 0.0;</div>
-<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  this->checking_hysteresis.tilt = 0.0;</div>
-<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  this->checking_hysteresis_slope.pan = 0.0;</div>
-<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  this->checking_hysteresis_slope.tilt = 0.0;</div>
-<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  this->checking_hysteresis_offset.pan = 0.0;</div>
-<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  this->checking_hysteresis_offset.tilt = 0.0;</div>
-<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  {</div>
-<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  std::string name = <span class="stringliteral">"pan"</span>;</div>
-<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  this->pan = <span class="keyword">new</span> CDynamixelMotor(name, dyn_server_pan_tilt, dev_id_pan, version_servos);</div>
-<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  name = <span class="stringliteral">"tilt"</span>;</div>
-<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  this->tilt = <span class="keyword">new</span> CDynamixelMotor(name, dyn_server_pan_tilt, dev_id_tilt, version_servos);</div>
-<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div>
-<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">int</span> res;</div>
-<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  res = pthread_mutex_init(&(this->mut), NULL);</div>
-<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">if</span> (res != 0) {</div>
-<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  perror(<span class="stringliteral">"Mutex initialization failed"</span>);</div>
-<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  exit(EXIT_FAILURE);</div>
-<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  }</div>
-<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  res = pthread_create(&(this->checking_thread), NULL, <a class="code" href="classCDynamixel__Pan__Tilt.html#a53fdb60e41ee610f3f8810fb56563dfa">checking_angle_limits</a>, (<span class="keywordtype">void</span> *)<span class="keyword">this</span>);</div>
-<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">if</span> (res != 0) </div>
-<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  {</div>
-<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  perror(<span class="stringliteral">"Thread creation failed"</span>);</div>
-<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  exit(EXIT_FAILURE);</div>
-<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  }</div>
-<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div>
-<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#af8ef151d78af2866bd9269bc32ffb747">actualice_parameters</a>();</div>
-<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  }</div>
-<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">catch</span>(CException &e)</div>
-<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  {</div>
-<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="comment">/* handle exceptions */</span></div>
-<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  std::cout << e.what() << std::endl;</div>
-<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">if</span>(this->pan!=NULL)</div>
-<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  {</div>
-<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">delete</span> this->pan;</div>
-<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  this->pan=NULL;</div>
-<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  }</div>
-<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">if</span>(this->tilt!=NULL)</div>
-<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  {</div>
-<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">delete</span> this->tilt;</div>
-<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  this->tilt=NULL;</div>
-<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  }</div>
-<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
-<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">throw</span>;</div>
-<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  }</div>
-<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
-<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> </div>
-<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> }</div>
-<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
-<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#ad955d5429115e35405dcf998148fec31"> 87</a></span> <a class="code" href="classCDynamixel__Pan__Tilt.html#ad955d5429115e35405dcf998148fec31">CDynamixel_Pan_Tilt::~CDynamixel_Pan_Tilt</a>()</div>
-<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> {</div>
-<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="comment">/* stop the pan-tilt */</span></div>
-<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">try</span>{</div>
-<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">stop</a>();</div>
-<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="comment">/* disable the motors */</span></div>
-<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  this->pan->disable();</div>
-<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  this->tilt->disable();</div>
-<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div>
-<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordtype">int</span> res;</div>
-<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordtype">void</span> *thread_res;</div>
-<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  exiting = <span class="keyword">true</span>;</div>
-<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  res = pthread_join(this->checking_thread, &thread_res);</div>
-<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">if</span> (res != 0) </div>
-<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  {</div>
-<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  perror(<span class="stringliteral">"Thread join failed"</span>);</div>
-<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  exit(EXIT_FAILURE);</div>
-<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  }</div>
-<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  pthread_mutex_destroy(&(this->mut));</div>
-<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> </div>
-<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  }<span class="keywordflow">catch</span>(CException &e){</div>
-<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="comment">/* do nothing */</span></div>
-<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  }</div>
-<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordflow">if</span>(this->pan!=NULL)</div>
-<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  {</div>
-<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">delete</span> this->pan;</div>
-<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  this->pan=NULL;</div>
-<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  }</div>
-<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">if</span>(this->pan!=NULL)</div>
-<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  {</div>
-<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keyword">delete</span> this->tilt;</div>
-<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  this->tilt=NULL;</div>
-<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  }</div>
-<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a807b976322abcbd06bec90c51ac7cfd9">default_parameters</a>();</div>
-<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> }</div>
-<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div>
-<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> </div>
-<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> </div>
-<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f"> 127</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">CDynamixel_Pan_Tilt::load_config</a>(<a class="code" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a> &config)</div>
-<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> {</div>
-<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  this->pan->load_config(config.pan);</div>
-<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  this->tilt->load_config(config.tilt);</div>
-<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div>
-<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a95e6138ad6fd8db61a0da0d463abca8c">actualice_config</a>();</div>
-<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(config);</div>
-<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> }</div>
-<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> </div>
-<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="preprocessor">#ifdef _HAVE_XSD</span></div>
-<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> </div>
-<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">CDynamixel_Pan_Tilt::load_config</a>(std::string &filename)</div>
-<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> {</div>
-<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <a class="code" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> compliance;</div>
-<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <a class="code" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> pid;</div>
-<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keyword">struct </span>stat buffer;</div>
-<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div>
-<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordflow">if</span>(stat(filename.c_str(),&buffer)==0)</div>
-<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  {</div>
-<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="comment">// try to open the specified file</span></div>
-<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">try</span>{</div>
-<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  std::auto_ptr<dynamixel_pan_tilt_config_t> cfg(dynamixel_pan_tilt_config(filename.c_str(), xml_schema::flags::dont_validate));</div>
-<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="comment">// configure the parameters of the controller</span></div>
-<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">if</span> (cfg->alarm_shtdwn().present())</div>
-<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  {</div>
-<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  this->pan->set_turn_off_alarms(cfg->alarm_shtdwn().get());</div>
-<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  this->tilt->set_turn_off_alarms(cfg->alarm_shtdwn().get());</div>
-<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  }</div>
-<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordflow">else</span> </div>
-<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  {</div>
-<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  this->pan->set_turn_off_alarms((<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>) 5);</div>
-<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  this->tilt->set_turn_off_alarms((<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>) 5);</div>
-<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  }</div>
-<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div>
-<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  dynamixel_pan_tilt_config_t::min_angle_const_iterator min_angle (cfg->min_angle().begin());</div>
-<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  dynamixel_pan_tilt_config_t::max_angle_const_iterator max_angle (cfg->max_angle().begin());</div>
-<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  this->pan->set_position_range(*min_angle, *max_angle);</div>
-<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div>
-<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  min_angle = cfg->min_angle().end();</div>
-<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  max_angle = cfg->max_angle().end();</div>
-<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  min_angle--;</div>
-<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  max_angle--;</div>
-<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  this->tilt->set_position_range(*min_angle, *max_angle);</div>
-<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> </div>
-<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordflow">if</span> (cfg->temp_limit().present())</div>
-<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  {</div>
-<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  this->pan->set_temperature_limit(cfg->temp_limit().get());</div>
-<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  this->tilt->set_temperature_limit(cfg->temp_limit().get());</div>
-<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  }</div>
-<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  {</div>
-<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  this->pan->set_temperature_limit(85);</div>
-<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  this->tilt->set_temperature_limit(85);</div>
-<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  }</div>
-<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  </div>
-<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  this->pan->set_voltage_limits(cfg->min_voltage(),cfg->max_voltage());</div>
-<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  this->tilt->set_voltage_limits(cfg->min_voltage(),cfg->max_voltage());</div>
-<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> </div>
-<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keywordflow">if</span>(this->info.pan.pid_control)</div>
-<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  {</div>
-<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  dynamixel_pan_tilt_config_t::kp_const_iterator kp (cfg->kp().begin());</div>
-<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  pid.pan.p = *kp;</div>
-<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  dynamixel_pan_tilt_config_t::ki_const_iterator ki (cfg->ki().begin());</div>
-<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  pid.pan.i = *ki;</div>
-<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  dynamixel_pan_tilt_config_t::kd_const_iterator kd (cfg->kd().begin());</div>
-<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  pid.pan.d = *kd;</div>
-<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  this->pan->set_pid_control(pid.pan);</div>
-<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  }</div>
-<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  {</div>
-<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  dynamixel_pan_tilt_config_t::cw_comp_margin_const_iterator cw_comp_margin (cfg->cw_comp_margin().begin());</div>
-<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  compliance.pan.cw_compliance_margin = *cw_comp_margin;</div>
-<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  dynamixel_pan_tilt_config_t::ccw_comp_margin_const_iterator ccw_comp_margin (cfg->ccw_comp_margin().begin());</div>
-<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  compliance.pan.ccw_compliance_margin = *ccw_comp_margin;</div>
-<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  dynamixel_pan_tilt_config_t::cw_comp_slope_const_iterator cw_comp_slope (cfg->cw_comp_slope().begin());</div>
-<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  compliance.pan.cw_compliance_slope = *cw_comp_slope;</div>
-<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  dynamixel_pan_tilt_config_t::ccw_comp_slope_const_iterator ccw_comp_slope (cfg->ccw_comp_slope().begin());</div>
-<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  compliance.pan.ccw_compliance_slope = *ccw_comp_slope;</div>
-<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  this->pan->set_compliance_control(compliance.pan);</div>
-<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  }</div>
-<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> </div>
-<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordflow">if</span>(this->info.tilt.pid_control)</div>
-<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  {</div>
-<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  dynamixel_pan_tilt_config_t::kp_const_iterator kp (cfg->kp().end());</div>
-<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  kp--;</div>
-<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  pid.tilt.p = *kp;</div>
-<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  dynamixel_pan_tilt_config_t::ki_const_iterator ki (cfg->ki().end());</div>
-<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  ki--;</div>
-<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  pid.tilt.i = *ki;</div>
-<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  dynamixel_pan_tilt_config_t::kd_const_iterator kd (cfg->kd().end());</div>
-<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  kd--;</div>
-<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  pid.tilt.d = *kd;</div>
-<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  this->tilt->set_pid_control(pid.tilt);</div>
-<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  }</div>
-<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  {</div>
-<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  dynamixel_pan_tilt_config_t::cw_comp_margin_const_iterator cw_comp_margin (cfg->cw_comp_margin().end());</div>
-<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  cw_comp_margin--;</div>
-<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  compliance.tilt.cw_compliance_margin = *cw_comp_margin;</div>
-<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  dynamixel_pan_tilt_config_t::ccw_comp_margin_const_iterator ccw_comp_margin (cfg->ccw_comp_margin().end());</div>
-<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  ccw_comp_margin--;</div>
-<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  compliance.tilt.ccw_compliance_margin = *ccw_comp_margin;</div>
-<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  dynamixel_pan_tilt_config_t::cw_comp_slope_const_iterator cw_comp_slope (cfg->cw_comp_slope().end());</div>
-<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  cw_comp_slope--;</div>
-<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  compliance.tilt.cw_compliance_slope = *cw_comp_slope;</div>
-<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  dynamixel_pan_tilt_config_t::ccw_comp_slope_const_iterator ccw_comp_slope (cfg->ccw_comp_slope().end());</div>
-<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  ccw_comp_slope--;</div>
-<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  compliance.tilt.ccw_compliance_slope = *ccw_comp_slope;</div>
-<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  this->tilt->set_compliance_control(compliance.tilt);</div>
-<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  }</div>
-<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> </div>
-<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> </div>
-<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  dynamixel_pan_tilt_config_t::punch_const_iterator punch (cfg->punch().begin());</div>
-<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  this->pan->set_punch(*punch);</div>
-<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  punch = cfg->punch().end();</div>
-<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  punch--;</div>
-<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  this->tilt->set_punch(*punch);</div>
-<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> </div>
-<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keywordflow">if</span> (cfg->max_torque().present())</div>
-<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  {</div>
-<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  this->pan->set_max_torque(cfg->max_torque().get());</div>
-<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  this->pan->set_limit_torque(cfg->max_torque().get());</div>
-<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  this->tilt->set_max_torque(cfg->max_torque().get());</div>
-<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  this->tilt->set_limit_torque(cfg->max_torque().get());</div>
-<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  }</div>
-<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  {</div>
-<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  this->pan->set_max_torque(100.0);</div>
-<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  this->pan->set_limit_torque(100.0);</div>
-<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  this->tilt->set_max_torque(100.0);</div>
-<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  this->tilt->set_limit_torque(100.0);</div>
-<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  }</div>
-<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> </div>
-<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">if</span> (cfg->check_hyst_offset().size() > 0)</div>
-<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  {</div>
-<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  dynamixel_pan_tilt_config_t::check_hyst_offset_const_iterator check_hyst_offset (cfg->check_hyst_offset().begin());</div>
-<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  this->checking_hysteresis_offset.pan = *check_hyst_offset;</div>
-<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  check_hyst_offset = cfg->check_hyst_offset().end();</div>
-<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  check_hyst_offset--;</div>
-<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  this->checking_hysteresis_offset.tilt = *check_hyst_offset;</div>
-<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  }</div>
-<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  {</div>
-<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  this->checking_hysteresis_offset.pan = 2.404867;</div>
-<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  this->checking_hysteresis_offset.tilt = 2.404867;</div>
-<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  }</div>
-<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div>
-<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keywordflow">if</span> (cfg->check_hyst_slope().size() > 0)</div>
-<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  {</div>
-<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  dynamixel_pan_tilt_config_t::check_hyst_slope_const_iterator check_hyst_slope (cfg->check_hyst_slope().begin());</div>
-<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  this->checking_hysteresis_slope.pan = *check_hyst_slope;</div>
-<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  check_hyst_slope = cfg->check_hyst_slope().end();</div>
-<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  check_hyst_slope--;</div>
-<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  this->checking_hysteresis_slope.tilt = *check_hyst_slope;</div>
-<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  }</div>
-<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  {</div>
-<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  this->checking_hysteresis_slope.pan = 0.20688;</div>
-<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  this->checking_hysteresis_slope.tilt = 0.20688;</div>
-<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  }</div>
-<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> </div>
-<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#af8ef151d78af2866bd9269bc32ffb747">actualice_parameters</a>();</div>
-<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  }<span class="keywordflow">catch</span> (<span class="keyword">const</span> xml_schema::exception& e){</div>
-<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  std::ostringstream os;</div>
-<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  os << e;</div>
-<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="comment">/* handle exceptions */</span></div>
-<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keywordflow">throw</span> CDynamixelMotorException(_HERE_,os.str());</div>
-<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  } </div>
-<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  }</div>
-<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keywordflow">throw</span> CDynamixelMotorException(_HERE_,<span class="stringliteral">"The configuration file does not exist"</span>);</div>
-<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> }</div>
-<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> </div>
-<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> <span class="keywordtype">void</span> CDynamixel_Pan_Tilt::save_config(std::string &filename)</div>
-<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> {</div>
-<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="comment">/*xml_schema::namespace_infomap map;</span></div>
-<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="comment"> actualice_parameters();</span></div>
-<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> <span class="comment"></span></div>
-<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> <span class="comment"> unsigned char c[] = {this->compliance.pan.cw_compliance_margin, this->compliance.tilt.cw_compliance_margin};</span></div>
-<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> <span class="comment"> std::vector<unsigned char> cw_compliance_margin(c, c + sizeof(c) / sizeof(unsigned char));</span></div>
-<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> <span class="comment"> c[0] = this->compliance.pan.ccw_compliance_margin;</span></div>
-<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> <span class="comment"> c[1] = this->compliance.tilt.ccw_compliance_margin;</span></div>
-<div class="line"><a name="l00309"></a><span class="lineno"> 309</span> <span class="comment"> std::vector<unsigned char> ccw_compliance_margin(c, c + sizeof(c) / sizeof(unsigned char));</span></div>
-<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> <span class="comment"> c[0] = this->compliance.pan.cw_compliance_slope;</span></div>
-<div class="line"><a name="l00311"></a><span class="lineno"> 311</span> <span class="comment"> c[1] = this->compliance.tilt.cw_compliance_slope;</span></div>
-<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> <span class="comment"> std::vector<unsigned char> cw_compliance_slope(c, c + sizeof(c) / sizeof(unsigned char));</span></div>
-<div class="line"><a name="l00313"></a><span class="lineno"> 313</span> <span class="comment"> c[0] = this->compliance.pan.ccw_compliance_slope;</span></div>
-<div class="line"><a name="l00314"></a><span class="lineno"> 314</span> <span class="comment"> c[1] = this->compliance.tilt.ccw_compliance_slope;</span></div>
-<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> <span class="comment"> std::vector<unsigned char> ccw_compliance_slope(c, c + sizeof(c) / sizeof(unsigned char));</span></div>
-<div class="line"><a name="l00316"></a><span class="lineno"> 316</span> <span class="comment"> unsigned short int i[] ={this->config.pan.punch, this->config.tilt.punch};</span></div>
-<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> <span class="comment"> std::vector<unsigned short int> punch(i, i + sizeof(i) / sizeof(unsigned short int));</span></div>
-<div class="line"><a name="l00318"></a><span class="lineno"> 318</span> <span class="comment"> c[0] = this->pid.pan.p;</span></div>
-<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <span class="comment"> c[1] = this->pid.tilt.p;</span></div>
-<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> <span class="comment"> std::vector<unsigned char> kp(c, c + sizeof(c) / sizeof(unsigned char));</span></div>
-<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> <span class="comment"> c[0] = this->pid.pan.i;</span></div>
-<div class="line"><a name="l00322"></a><span class="lineno"> 322</span> <span class="comment"> c[1] = this->pid.tilt.i;</span></div>
-<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> <span class="comment"> std::vector<unsigned char> ki(c, c + sizeof(c) / sizeof(unsigned char));</span></div>
-<div class="line"><a name="l00324"></a><span class="lineno"> 324</span> <span class="comment"> c[0] = this->pid.pan.d;</span></div>
-<div class="line"><a name="l00325"></a><span class="lineno"> 325</span> <span class="comment"> c[1] = this->pid.tilt.d;</span></div>
-<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> <span class="comment"> std::vector<unsigned char> kd(c, c + sizeof(c) / sizeof(unsigned char));</span></div>
-<div class="line"><a name="l00327"></a><span class="lineno"> 327</span> <span class="comment"> double d[] = {this->min_angle.pan, this->min_angle.tilt};</span></div>
-<div class="line"><a name="l00328"></a><span class="lineno"> 328</span> <span class="comment"> std::vector<double> min_angles(d, d + sizeof(d) / sizeof(double));</span></div>
-<div class="line"><a name="l00329"></a><span class="lineno"> 329</span> <span class="comment"> d[0] = this->max_angle.pan;</span></div>
-<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> <span class="comment"> d[1] = this->max_angle.tilt;</span></div>
-<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> <span class="comment"> std::vector<double> max_angles(d, d + sizeof(d) / sizeof(double));</span></div>
-<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> <span class="comment"> d[0] = this->checking_hysteresis_offset.pan;</span></div>
-<div class="line"><a name="l00333"></a><span class="lineno"> 333</span> <span class="comment"> d[1] = this->checking_hysteresis_offset.tilt;</span></div>
-<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> <span class="comment"> std::vector<double> checking_hyst_offset(d, d + sizeof(d) / sizeof(double));</span></div>
-<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="comment"> d[0] = this->checking_hysteresis_slope.pan;</span></div>
-<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <span class="comment"> d[1] = this->checking_hysteresis_slope.tilt;</span></div>
-<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="comment"> std::vector<double> checking_hyst_slope(d, d + sizeof(d) / sizeof(double));</span></div>
-<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="comment"></span></div>
-<div class="line"><a name="l00339"></a><span class="lineno"> 339</span> <span class="comment"> try{</span></div>
-<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> <span class="comment"> std::ofstream output_file(filename.c_str(),std::ios_base::out);</span></div>
-<div class="line"><a name="l00341"></a><span class="lineno"> 341</span> <span class="comment"></span></div>
-<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> <span class="comment"> dynamixel_pan_tilt_config_t dyn_cfg((int)this->pan->get_turn_off_alarms(),</span></div>
-<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> <span class="comment"> this->config.pan.max_temperature,</span></div>
-<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> <span class="comment"> this->config.pan.max_voltage,</span></div>
-<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> <span class="comment"> this->config.pan.min_voltage,</span></div>
-<div class="line"><a name="l00346"></a><span class="lineno"> 346</span> <span class="comment"> this->config.pan.max_torque,</span></div>
-<div class="line"><a name="l00347"></a><span class="lineno"> 347</span> <span class="comment"> cw_compliance_margin,</span></div>
-<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> <span class="comment"> ccw_compliance_margin,</span></div>
-<div class="line"><a name="l00349"></a><span class="lineno"> 349</span> <span class="comment"> cw_compliance_slope,</span></div>
-<div class="line"><a name="l00350"></a><span class="lineno"> 350</span> <span class="comment"> ccw_compliance_slope,</span></div>
-<div class="line"><a name="l00351"></a><span class="lineno"> 351</span> <span class="comment"> punch,</span></div>
-<div class="line"><a name="l00352"></a><span class="lineno"> 352</span> <span class="comment"> kp,</span></div>
-<div class="line"><a name="l00353"></a><span class="lineno"> 353</span> <span class="comment"> ki,</span></div>
-<div class="line"><a name="l00354"></a><span class="lineno"> 354</span> <span class="comment"> kd,</span></div>
-<div class="line"><a name="l00355"></a><span class="lineno"> 355</span> <span class="comment"> min_angles,</span></div>
-<div class="line"><a name="l00356"></a><span class="lineno"> 356</span> <span class="comment"> max_angles,</span></div>
-<div class="line"><a name="l00357"></a><span class="lineno"> 357</span> <span class="comment"> checking_hyst_offset,</span></div>
-<div class="line"><a name="l00358"></a><span class="lineno"> 358</span> <span class="comment"> checking_hyst_slope);</span></div>
-<div class="line"><a name="l00359"></a><span class="lineno"> 359</span> <span class="comment"> map[""].name="";</span></div>
-<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> <span class="comment"> map[""].schema="dynamixel_pan_tilt_cfg_file.xsd";</span></div>
-<div class="line"><a name="l00361"></a><span class="lineno"> 361</span> <span class="comment"> dynamixel_pan_tilt_config(output_file,dyn_cfg,map);</span></div>
-<div class="line"><a name="l00362"></a><span class="lineno"> 362</span> <span class="comment"> }catch (const xml_schema::exception& e){</span></div>
-<div class="line"><a name="l00363"></a><span class="lineno"> 363</span> <span class="comment"> std::ostringstream os;</span></div>
-<div class="line"><a name="l00364"></a><span class="lineno"> 364</span> <span class="comment"> os << e;</span></div>
-<div class="line"><a name="l00365"></a><span class="lineno"> 365</span> <span class="comment"> throw CDynamixelMotorException(_HERE_,os.str());</span></div>
-<div class="line"><a name="l00366"></a><span class="lineno"> 366</span> <span class="comment"> }*/</span></div>
-<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> }</div>
-<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> <span class="preprocessor">#endif</span></div>
-<div class="line"><a name="l00369"></a><span class="lineno"> 369</span> </div>
-<div class="line"><a name="l00371"></a><span class="lineno"> 371</span> </div>
-<div class="line"><a name="l00373"></a><span class="lineno"> 373</span> </div>
-<div class="line"><a name="l00374"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a4579aab486bced3d8a19b5ff0b001847"> 374</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a4579aab486bced3d8a19b5ff0b001847">CDynamixel_Pan_Tilt::move_absolute_angle</a>(<a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &angle, <a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &speed)</div>
-<div class="line"><a name="l00375"></a><span class="lineno"> 375</span> {</div>
-<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#af4ecc2d80ee122db640a9377b164c7f9">move_absolute_angle_pan</a>(angle.pan, speed.pan);</div>
-<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a312e7e5d4bd8ccbbb9807d4d1ce2f5b6">move_absolute_angle_tilt</a>(angle.tilt, speed.tilt);</div>
-<div class="line"><a name="l00378"></a><span class="lineno"> 378</span> }</div>
-<div class="line"><a name="l00379"></a><span class="lineno"> 379</span> </div>
-<div class="line"><a name="l00380"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#af4ecc2d80ee122db640a9377b164c7f9"> 380</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#af4ecc2d80ee122db640a9377b164c7f9">CDynamixel_Pan_Tilt::move_absolute_angle_pan</a>(<span class="keywordtype">double</span> &angle, <span class="keywordtype">double</span> &speed)</div>
-<div class="line"><a name="l00381"></a><span class="lineno"> 381</span> {</div>
-<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  {</div>
-<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="keywordflow">if</span> (this->mode.pan == angle_ctrl)</div>
-<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  {<span class="comment">//if it is on angle mode it checks the normal limits and moves</span></div>
-<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keywordflow">if</span> (this->config.pan.min_angle > angle)</div>
-<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  angle = this->config.pan.min_angle + 0.05;<span class="comment">//on the exact limit it gives an error beacuse the conversion between angle and the word</span></div>
-<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (this->config.pan.max_angle < angle)</div>
-<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  angle = this->config.pan.max_angle - 0.05;<span class="comment">//on the exact limit it gives an error beacuse the conversion between angle and the word</span></div>
-<div class="line"><a name="l00390"></a><span class="lineno"> 390</span> </div>
-<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <span class="keywordflow">if</span> (fabs(speed) > this->info.pan.max_speed*this->config.pan.max_torque/100)</div>
-<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  speed = this->info.pan.max_speed*this->config.pan.max_torque/100;</div>
-<div class="line"><a name="l00393"></a><span class="lineno"> 393</span> </div>
-<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  this->pan->move_absolute_angle(angle, speed);</div>
-<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  }</div>
-<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  {<span class="comment">//if not, it checks the configuration limits and actualice the normal limits and the mode</span></div>
-<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keywordflow">if</span> (this->min_angle.pan > angle)</div>
-<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  angle = this->min_angle.pan + 0.05;<span class="comment">//on the exact limit it gives an error beacuse the conversion between angle and the word</span></div>
-<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (this->max_angle.pan < angle)</div>
-<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  angle = this->max_angle.pan - 0.05;<span class="comment">//on the exact limit it gives an error beacuse the conversion between angle and the word</span></div>
-<div class="line"><a name="l00402"></a><span class="lineno"> 402</span> </div>
-<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  <span class="keywordflow">if</span> (fabs(speed) > this->info.pan.max_speed*this->config.pan.max_torque/100)</div>
-<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  speed = this->info.pan.max_speed*this->config.pan.max_torque/100;</div>
-<div class="line"><a name="l00405"></a><span class="lineno"> 405</span> </div>
-<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  this->pan->move_absolute_angle(angle, speed);</div>
-<div class="line"><a name="l00407"></a><span class="lineno"> 407</span> </div>
-<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  this->pan->set_position_range(this->min_angle.pan, this->max_angle.pan);</div>
-<div class="line"><a name="l00409"></a><span class="lineno"> 409</span> </div>
-<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  this->mode.pan = this->pan->get_control_mode();</div>
-<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  this->pan->get_position_range(&this->config.pan.min_angle, &this->config.pan.max_angle);</div>
-<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  }</div>
-<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">set_moving_state_pan</a>(stopped);</div>
-<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  this->checking_hysteresis.pan = 0.0;</div>
-<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  }</div>
-<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  <span class="keywordflow">catch</span>(CException &e)</div>
-<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  {</div>
-<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  <span class="comment">//std::cout << e.what() << std::endl;</span></div>
-<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  }</div>
-<div class="line"><a name="l00420"></a><span class="lineno"> 420</span> }</div>
-<div class="line"><a name="l00421"></a><span class="lineno"> 421</span> </div>
-<div class="line"><a name="l00422"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a312e7e5d4bd8ccbbb9807d4d1ce2f5b6"> 422</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a312e7e5d4bd8ccbbb9807d4d1ce2f5b6">CDynamixel_Pan_Tilt::move_absolute_angle_tilt</a>(<span class="keywordtype">double</span> &angle, <span class="keywordtype">double</span> &speed)</div>
-<div class="line"><a name="l00423"></a><span class="lineno"> 423</span> {</div>
-<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  {</div>
-<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="keywordflow">if</span> (this->mode.tilt == angle_ctrl)</div>
-<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  {<span class="comment">//if it is on angle mode it checks the normal limits and moves</span></div>
-<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  <span class="keywordflow">if</span> (this->config.tilt.min_angle > angle)</div>
-<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  angle = this->config.tilt.min_angle + 0.05;<span class="comment">//on the exact limit it gives an error beacuse the conversion between angle and the word</span></div>
-<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (this->config.tilt.max_angle < angle)</div>
-<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  angle = this->config.tilt.max_angle - 0.05;<span class="comment">//on the exact limit it gives an error beacuse the conversion between angle and the word</span></div>
-<div class="line"><a name="l00432"></a><span class="lineno"> 432</span> </div>
-<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <span class="keywordflow">if</span> (fabs(speed) > this->info.tilt.max_speed*this->config.tilt.max_torque/100)</div>
-<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  speed = this->info.tilt.max_speed*this->config.tilt.max_torque/100;</div>
-<div class="line"><a name="l00435"></a><span class="lineno"> 435</span> </div>
-<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  this->tilt->move_absolute_angle(angle, speed);</div>
-<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  }</div>
-<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  {<span class="comment">//if not, it checks the configuration limits and actualice the normal limits and the mode</span></div>
-<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="keywordflow">if</span> (this->min_angle.tilt > angle)</div>
-<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  angle = this->min_angle.tilt + 0.05;<span class="comment">//on the exact limit it gives an error beacuse the conversion between angle and the word</span></div>
-<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (this->max_angle.tilt < angle)</div>
-<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  angle = this->max_angle.tilt - 0.05;<span class="comment">//on the exact limit it gives an error beacuse the conversion between angle and the word</span></div>
-<div class="line"><a name="l00444"></a><span class="lineno"> 444</span> </div>
-<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  <span class="keywordflow">if</span> (fabs(speed) > this->info.tilt.max_speed*this->config.tilt.max_torque/100)</div>
-<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  speed = this->info.tilt.max_speed*this->config.tilt.max_torque/100;</div>
-<div class="line"><a name="l00447"></a><span class="lineno"> 447</span> </div>
-<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  this->tilt->move_absolute_angle(angle, speed);</div>
-<div class="line"><a name="l00449"></a><span class="lineno"> 449</span> </div>
-<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  this->tilt->set_position_range(this->min_angle.tilt, this->max_angle.tilt);</div>
-<div class="line"><a name="l00451"></a><span class="lineno"> 451</span> </div>
-<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  this->mode.tilt = this->tilt->get_control_mode();</div>
-<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  this->tilt->get_position_range(&this->config.tilt.min_angle, &this->config.tilt.max_angle);</div>
-<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  }</div>
-<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">set_moving_state_tilt</a>(stopped);</div>
-<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  this->checking_hysteresis.tilt = 0.0;</div>
-<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  }</div>
-<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  <span class="keywordflow">catch</span>(CException &e)</div>
-<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  {</div>
-<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <span class="comment">//std::cout << e.what() << std::endl;</span></div>
-<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  }</div>
-<div class="line"><a name="l00462"></a><span class="lineno"> 462</span> }</div>
-<div class="line"><a name="l00463"></a><span class="lineno"> 463</span> </div>
-<div class="line"><a name="l00464"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#ad1b9601a478923ae2edd418cc14b570f"> 464</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#ad1b9601a478923ae2edd418cc14b570f">CDynamixel_Pan_Tilt::move_relative_angle</a>(<a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &angle, <a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &speed)</div>
-<div class="line"><a name="l00465"></a><span class="lineno"> 465</span> {</div>
-<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a1f07aaa4ea74a6209a26af4c9f6da0d7">move_relative_angle_pan</a>(angle.pan, speed.pan);</div>
-<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a1fd325c2b9e515ff25bb139cc13df5ca">move_relative_angle_tilt</a>(angle.tilt, speed.tilt);</div>
-<div class="line"><a name="l00468"></a><span class="lineno"> 468</span> }</div>
-<div class="line"><a name="l00469"></a><span class="lineno"> 469</span> </div>
-<div class="line"><a name="l00470"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a1f07aaa4ea74a6209a26af4c9f6da0d7"> 470</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a1f07aaa4ea74a6209a26af4c9f6da0d7">CDynamixel_Pan_Tilt::move_relative_angle_pan</a>(<span class="keywordtype">double</span> &angle, <span class="keywordtype">double</span> &speed)</div>
-<div class="line"><a name="l00471"></a><span class="lineno"> 471</span> {</div>
-<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  angle += this->pan->get_current_angle();</div>
-<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#af4ecc2d80ee122db640a9377b164c7f9">move_absolute_angle_pan</a>(angle, speed);</div>
-<div class="line"><a name="l00474"></a><span class="lineno"> 474</span> }</div>
-<div class="line"><a name="l00475"></a><span class="lineno"> 475</span> </div>
-<div class="line"><a name="l00476"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a1fd325c2b9e515ff25bb139cc13df5ca"> 476</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a1fd325c2b9e515ff25bb139cc13df5ca">CDynamixel_Pan_Tilt::move_relative_angle_tilt</a>(<span class="keywordtype">double</span> &angle, <span class="keywordtype">double</span> &speed)</div>
-<div class="line"><a name="l00477"></a><span class="lineno"> 477</span> {</div>
-<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  angle += this->tilt->get_current_angle();</div>
-<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a312e7e5d4bd8ccbbb9807d4d1ce2f5b6">move_absolute_angle_tilt</a>(angle, speed);</div>
-<div class="line"><a name="l00480"></a><span class="lineno"> 480</span> }</div>
-<div class="line"><a name="l00481"></a><span class="lineno"> 481</span> </div>
-<div class="line"><a name="l00482"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1"> 482</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">CDynamixel_Pan_Tilt::move_torque</a>(<a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &speed)</div>
-<div class="line"><a name="l00483"></a><span class="lineno"> 483</span> {</div>
-<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#aa2a78fc58a8583d1567e0e61ae583559">move_torque_pan</a>(speed.pan);</div>
-<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a82ac164454b67542e3172d1971a15bd7">move_torque_tilt</a>(speed.tilt);</div>
-<div class="line"><a name="l00486"></a><span class="lineno"> 486</span> }</div>
-<div class="line"><a name="l00487"></a><span class="lineno"> 487</span> </div>
-<div class="line"><a name="l00488"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#aa2a78fc58a8583d1567e0e61ae583559"> 488</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#aa2a78fc58a8583d1567e0e61ae583559">CDynamixel_Pan_Tilt::move_torque_pan</a>(<span class="keywordtype">double</span> &speed)</div>
-<div class="line"><a name="l00489"></a><span class="lineno"> 489</span> {</div>
-<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  {</div>
-<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keywordflow">if</span> (this->mode.pan == torque_ctrl)</div>
-<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  {</div>
-<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <span class="keywordflow">if</span> (fabs(speed) > this->config.pan.max_torque)</div>
-<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  (speed > 0 ? speed = this->config.pan.max_torque : speed = -(this->config.pan.max_torque));</div>
-<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  this->pan->move_torque(speed);</div>
-<div class="line"><a name="l00497"></a><span class="lineno"> 497</span> </div>
-<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  }</div>
-<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  {</div>
-<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  <span class="keywordflow">if</span> (fabs(speed) > this->config.pan.max_torque)</div>
-<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  (speed > 0 ? speed = this->config.pan.max_torque : speed = -(this->config.pan.max_torque));</div>
-<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  this->pan->move_torque(speed);</div>
-<div class="line"><a name="l00504"></a><span class="lineno"> 504</span> </div>
-<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  this->mode.pan = this->pan->get_control_mode();</div>
-<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  this->pan->get_position_range(&this->config.pan.min_angle, &this->config.pan.max_angle);</div>
-<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  }</div>
-<div class="line"><a name="l00508"></a><span class="lineno"> 508</span> </div>
-<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  this->checking_hysteresis.pan = <a class="code" href="classCDynamixel__Pan__Tilt.html#a355b9c2a831c51cb833031e4d28d3118">get_checking_hysteresis_pan</a>(fabs(speed));</div>
-<div class="line"><a name="l00510"></a><span class="lineno"> 510</span> </div>
-<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  <span class="keywordflow">if</span> (speed > 0) <a class="code" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">set_moving_state_pan</a>(positive_torque);</div>
-<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (speed < 0) <a class="code" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">set_moving_state_pan</a>(negative_torque);</div>
-<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  <span class="keywordflow">else</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">set_moving_state_pan</a>(stopped);</div>
-<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  }</div>
-<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  <span class="keywordflow">catch</span> (CException &e)</div>
-<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  {</div>
-<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  std::cout << e.what() << std::endl;</div>
-<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  }</div>
-<div class="line"><a name="l00519"></a><span class="lineno"> 519</span> }</div>
-<div class="line"><a name="l00520"></a><span class="lineno"> 520</span> </div>
-<div class="line"><a name="l00521"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a82ac164454b67542e3172d1971a15bd7"> 521</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a82ac164454b67542e3172d1971a15bd7">CDynamixel_Pan_Tilt::move_torque_tilt</a>(<span class="keywordtype">double</span> &speed)</div>
-<div class="line"><a name="l00522"></a><span class="lineno"> 522</span> {</div>
-<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  {</div>
-<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  <span class="keywordflow">if</span> (this->mode.tilt == torque_ctrl)</div>
-<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  {</div>
-<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  <span class="keywordflow">if</span> (fabs(speed) > this->config.tilt.max_torque)</div>
-<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  (speed > 0 ? speed = this->config.tilt.max_torque : speed = -(this->config.tilt.max_torque));</div>
-<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  this->tilt->move_torque(speed);</div>
-<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  }</div>
-<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  {</div>
-<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  <span class="keywordflow">if</span> (fabs(speed) > this->config.tilt.max_torque)</div>
-<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  (speed > 0 ? speed = this->config.tilt.max_torque : speed = -(this->config.tilt.max_torque));</div>
-<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  this->tilt->move_torque(speed);</div>
-<div class="line"><a name="l00536"></a><span class="lineno"> 536</span> </div>
-<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  this->mode.tilt = this->tilt->get_control_mode();</div>
-<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  this->tilt->get_position_range(&this->config.tilt.min_angle, &this->config.tilt.max_angle);</div>
-<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  }</div>
-<div class="line"><a name="l00540"></a><span class="lineno"> 540</span> </div>
-<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  this->checking_hysteresis.tilt = <a class="code" href="classCDynamixel__Pan__Tilt.html#afdbc56d736257a36602ed7b7abee04b8">get_checking_hysteresis_tilt</a>(fabs(speed));</div>
-<div class="line"><a name="l00542"></a><span class="lineno"> 542</span> </div>
-<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  <span class="keywordflow">if</span> (speed > 0) <a class="code" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">set_moving_state_tilt</a>(positive_torque);</div>
-<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (speed < 0) <a class="code" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">set_moving_state_tilt</a>(negative_torque);</div>
-<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  <span class="keywordflow">else</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">set_moving_state_tilt</a>(stopped);</div>
-<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  }</div>
-<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  <span class="keywordflow">catch</span> (CException &e)</div>
-<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  {</div>
-<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  std::cout << e.what() << std::endl;</div>
-<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  }</div>
-<div class="line"><a name="l00551"></a><span class="lineno"> 551</span> }</div>
-<div class="line"><a name="l00552"></a><span class="lineno"> 552</span> </div>
-<div class="line"><a name="l00553"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a53fdb60e41ee610f3f8810fb56563dfa"> 553</a></span> <span class="keywordtype">void</span> *<a class="code" href="classCDynamixel__Pan__Tilt.html#a53fdb60e41ee610f3f8810fb56563dfa">CDynamixel_Pan_Tilt::checking_angle_limits</a>(<span class="keywordtype">void</span> *arg)</div>
-<div class="line"><a name="l00554"></a><span class="lineno"> 554</span> {</div>
-<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html">CDynamixel_Pan_Tilt</a> *pan_tilt = (<a class="code" href="classCDynamixel__Pan__Tilt.html">CDynamixel_Pan_Tilt</a>*) arg;</div>
-<div class="line"><a name="l00556"></a><span class="lineno"> 556</span> </div>
-<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  <span class="keywordflow">while</span> (!(pan_tilt->exiting))</div>
-<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  {</div>
-<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  <span class="keywordtype">bool</span> is_moving;</div>
-<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2">is_torque_moving</a>(is_moving);</div>
-<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  <span class="keywordflow">while</span> (!(is_moving) && !(pan_tilt->exiting))</div>
-<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  {</div>
-<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  usleep(CHECKING_TIME_INTERVAL);</div>
-<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2">is_torque_moving</a>(is_moving);</div>
-<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  }</div>
-<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  </div>
-<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  <a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> pos;</div>
-<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2">is_torque_moving</a>(is_moving);</div>
-<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  Torque_moving_state pan_state;</div>
-<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#acb5001b7d7d4c84e478ac3f331e49dc6">get_moving_state_pan</a>(pan_state);</div>
-<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  Torque_moving_state tilt_state;</div>
-<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a63d0cb761dd51c259fa5fecba5635d0e">get_moving_state_tilt</a>(tilt_state);</div>
-<div class="line"><a name="l00573"></a><span class="lineno"> 573</span> </div>
-<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  <span class="keywordflow">while</span> (is_moving)</div>
-<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  {</div>
-<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  pos = pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>();</div>
-<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  <span class="keywordflow">if</span> ((pan_state == positive_torque) && (pos.pan >= (pan_tilt->max_angle.pan - pan_tilt->checking_hysteresis.pan)))</div>
-<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  {</div>
-<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  pan_tilt->pan->stop();</div>
-<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">set_moving_state_pan</a>(stopped);</div>
-<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  pan_tilt->checking_hysteresis.pan = 0.0;</div>
-<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  </div>
-<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  <span class="comment">//std::cout << "pan out!" << std::endl;</span></div>
-<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  <span class="comment">//pan_tilt->print_pan_tilt_data(pos);</span></div>
-<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  }</div>
-<div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((pan_state == negative_torque) && (pos.pan <= (pan_tilt->min_angle.pan + pan_tilt->checking_hysteresis.pan)))</div>
-<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  {</div>
-<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  pan_tilt->pan->stop();</div>
-<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">set_moving_state_pan</a>(stopped);</div>
-<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  pan_tilt->checking_hysteresis.pan = 0.0;</div>
-<div class="line"><a name="l00591"></a><span class="lineno"> 591</span> </div>
-<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  <span class="comment">//std::cout << "pan out!" << std::endl;</span></div>
-<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  <span class="comment">//pan_tilt->print_pan_tilt_data(pos);</span></div>
-<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  }</div>
-<div class="line"><a name="l00595"></a><span class="lineno"> 595</span> </div>
-<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  <span class="keywordflow">if</span> ((tilt_state == positive_torque) && (pos.tilt >= (pan_tilt->max_angle.tilt - pan_tilt->checking_hysteresis.tilt)))</div>
-<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  {</div>
-<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  pan_tilt->tilt->stop();</div>
-<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">set_moving_state_tilt</a>(stopped);</div>
-<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  pan_tilt->checking_hysteresis.tilt = 0.0;</div>
-<div class="line"><a name="l00601"></a><span class="lineno"> 601</span> </div>
-<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  <span class="comment">//std::cout << "tilt out!" << std::endl;</span></div>
-<div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  <span class="comment">//pan_tilt->print_pan_tilt_data(pos);</span></div>
-<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  }</div>
-<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((tilt_state == negative_torque) && (pos.tilt <= (pan_tilt->min_angle.tilt + pan_tilt->checking_hysteresis.tilt)))</div>
-<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  {</div>
-<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  pan_tilt->tilt->stop();</div>
-<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">set_moving_state_tilt</a>(stopped);</div>
-<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  pan_tilt->checking_hysteresis.tilt = 0.0;</div>
-<div class="line"><a name="l00610"></a><span class="lineno"> 610</span> </div>
-<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  <span class="comment">//std::cout << "tilt out!" << std::endl;</span></div>
-<div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  <span class="comment">//pan_tilt->print_pan_tilt_data(pos);</span></div>
-<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  }</div>
-<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  usleep(CHECKING_TIME_INTERVAL);</div>
-<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2">is_torque_moving</a>(is_moving);</div>
-<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#acb5001b7d7d4c84e478ac3f331e49dc6">get_moving_state_pan</a>(pan_state);</div>
-<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a63d0cb761dd51c259fa5fecba5635d0e">get_moving_state_tilt</a>(tilt_state);</div>
-<div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  }</div>
-<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  }</div>
-<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  pthread_exit((<span class="keywordtype">void</span> *) <span class="stringliteral">""</span>);</div>
-<div class="line"><a name="l00621"></a><span class="lineno"> 621</span> }</div>
-<div class="line"><a name="l00622"></a><span class="lineno"> 622</span> </div>
-<div class="line"><a name="l00623"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa"> 623</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">CDynamixel_Pan_Tilt::stop</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00624"></a><span class="lineno"> 624</span> {</div>
-<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  this->pan->stop();</div>
-<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  this->tilt->stop();</div>
-<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a7c6ed83d34470119c13c140a47473f55">reset_torque_moving_state</a>();</div>
-<div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  this->checking_hysteresis.pan = 0.0;</div>
-<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  this->checking_hysteresis.tilt = 0.0;</div>
-<div class="line"><a name="l00630"></a><span class="lineno"> 630</span> </div>
-<div class="line"><a name="l00631"></a><span class="lineno"> 631</span> }</div>
-<div class="line"><a name="l00632"></a><span class="lineno"> 632</span> </div>
-<div class="line"><a name="l00634"></a><span class="lineno"> 634</span> </div>
-<div class="line"><a name="l00636"></a><span class="lineno"> 636</span> </div>
-<div class="line"><a name="l00637"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#af8ef151d78af2866bd9269bc32ffb747"> 637</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#af8ef151d78af2866bd9269bc32ffb747">CDynamixel_Pan_Tilt::actualice_parameters</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00638"></a><span class="lineno"> 638</span> {</div>
-<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a30d96265819910c9b39b915963fbfed2">actualice_info</a>();</div>
-<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a9f3a9632ef385372a122dbc8560c3602">actualice_pid_control</a>();</div>
-<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a9e2ba4cccc53f86d1eaf1d6be56aa33a">actualice_compliance_control</a>();</div>
-<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a95e6138ad6fd8db61a0da0d463abca8c">actualice_config</a>();</div>
-<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a0fd919d8c6d339a4d3a8e6ba1f35727c">actualice_control_mode</a>();</div>
-<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a771a12ec9ca210a5f27f11994918da65">actualice_angle_limits</a>();</div>
-<div class="line"><a name="l00645"></a><span class="lineno"> 645</span> }</div>
-<div class="line"><a name="l00646"></a><span class="lineno"> 646</span> </div>
-<div class="line"><a name="l00647"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a95e6138ad6fd8db61a0da0d463abca8c"> 647</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a95e6138ad6fd8db61a0da0d463abca8c">CDynamixel_Pan_Tilt::actualice_config</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00648"></a><span class="lineno"> 648</span> {</div>
-<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  this->pan->get_position_range(&this->config.pan.min_angle, &this->config.pan.max_angle);</div>
-<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  this->config.pan.max_temperature = this->pan->get_temperature_limit();</div>
-<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  this->pan->get_voltage_limits(&this->config.pan.min_voltage, &this->config.pan.max_voltage);</div>
-<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  this->config.pan.max_torque = this->pan->get_max_torque();</div>
-<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  this->config.pan.punch = this->pan->get_punch();</div>
-<div class="line"><a name="l00654"></a><span class="lineno"> 654</span> </div>
-<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  this->tilt->get_position_range(&this->config.tilt.min_angle, &this->config.tilt.max_angle);</div>
-<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  this->config.tilt.max_temperature = this->tilt->get_temperature_limit();</div>
-<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  this->tilt->get_voltage_limits(&this->config.tilt.min_voltage, &this->config.tilt.max_voltage);</div>
-<div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  this->config.tilt.max_torque = this->tilt->get_max_torque();</div>
-<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  this->config.tilt.punch = this->tilt->get_punch();</div>
-<div class="line"><a name="l00660"></a><span class="lineno"> 660</span> }</div>
-<div class="line"><a name="l00661"></a><span class="lineno"> 661</span> </div>
-<div class="line"><a name="l00662"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a771a12ec9ca210a5f27f11994918da65"> 662</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a771a12ec9ca210a5f27f11994918da65">CDynamixel_Pan_Tilt::actualice_angle_limits</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00663"></a><span class="lineno"> 663</span> {</div>
-<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  this->min_angle.pan = this->config.pan.min_angle; </div>
-<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  this->max_angle.pan = this->config.pan.max_angle; </div>
-<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  this->min_angle.tilt = this->config.tilt.min_angle; </div>
-<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  this->max_angle.tilt = this->config.tilt.max_angle; </div>
-<div class="line"><a name="l00668"></a><span class="lineno"> 668</span> }</div>
-<div class="line"><a name="l00669"></a><span class="lineno"> 669</span> </div>
-<div class="line"><a name="l00670"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a0fd919d8c6d339a4d3a8e6ba1f35727c"> 670</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a0fd919d8c6d339a4d3a8e6ba1f35727c">CDynamixel_Pan_Tilt::actualice_control_mode</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00671"></a><span class="lineno"> 671</span> {</div>
-<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  {</div>
-<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  this->mode.pan = this->pan->get_control_mode();</div>
-<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  this->mode.tilt = this->tilt->get_control_mode();</div>
-<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  } </div>
-<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  <span class="keywordflow">catch</span>(CDynamixelAlarmException &e)</div>
-<div class="line"><a name="l00678"></a><span class="lineno"> 678</span>  {</div>
-<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  std::cout << e.what() << std::endl;</div>
-<div class="line"><a name="l00680"></a><span class="lineno"> 680</span>  }</div>
-<div class="line"><a name="l00681"></a><span class="lineno"> 681</span> }</div>
-<div class="line"><a name="l00682"></a><span class="lineno"> 682</span> </div>
-<div class="line"><a name="l00683"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a9f3a9632ef385372a122dbc8560c3602"> 683</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a9f3a9632ef385372a122dbc8560c3602">CDynamixel_Pan_Tilt::actualice_pid_control</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00684"></a><span class="lineno"> 684</span> {</div>
-<div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  {</div>
-<div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  this->pan->get_pid_control(this->pid.pan);</div>
-<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  this->tilt->get_pid_control(this->pid.tilt);</div>
-<div class="line"><a name="l00689"></a><span class="lineno"> 689</span>  } </div>
-<div class="line"><a name="l00690"></a><span class="lineno"> 690</span>  <span class="keywordflow">catch</span>(CDynamixelAlarmException &e)</div>
-<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  {</div>
-<div class="line"><a name="l00692"></a><span class="lineno"> 692</span>  std::cout << e.what() << std::endl;</div>
-<div class="line"><a name="l00693"></a><span class="lineno"> 693</span>  }</div>
-<div class="line"><a name="l00694"></a><span class="lineno"> 694</span> }</div>
-<div class="line"><a name="l00695"></a><span class="lineno"> 695</span> </div>
-<div class="line"><a name="l00696"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a30d96265819910c9b39b915963fbfed2"> 696</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a30d96265819910c9b39b915963fbfed2">CDynamixel_Pan_Tilt::actualice_info</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00697"></a><span class="lineno"> 697</span> {</div>
-<div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00699"></a><span class="lineno"> 699</span>  {</div>
-<div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  this->pan->get_servo_info(this->info.pan);</div>
-<div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  this->tilt->get_servo_info(this->info.tilt);</div>
-<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  } </div>
-<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>  <span class="keywordflow">catch</span>(CDynamixelAlarmException &e)</div>
-<div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  {</div>
-<div class="line"><a name="l00705"></a><span class="lineno"> 705</span>  std::cout << e.what() << std::endl;</div>
-<div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  }</div>
-<div class="line"><a name="l00707"></a><span class="lineno"> 707</span> }</div>
-<div class="line"><a name="l00708"></a><span class="lineno"> 708</span> </div>
-<div class="line"><a name="l00709"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a9e2ba4cccc53f86d1eaf1d6be56aa33a"> 709</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a9e2ba4cccc53f86d1eaf1d6be56aa33a">CDynamixel_Pan_Tilt::actualice_compliance_control</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00710"></a><span class="lineno"> 710</span> {</div>
-<div class="line"><a name="l00711"></a><span class="lineno"> 711</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00712"></a><span class="lineno"> 712</span>  {</div>
-<div class="line"><a name="l00713"></a><span class="lineno"> 713</span>  this->pan->get_compliance_control(this->compliance.pan);</div>
-<div class="line"><a name="l00714"></a><span class="lineno"> 714</span>  this->tilt->get_compliance_control(this->compliance.tilt);</div>
-<div class="line"><a name="l00715"></a><span class="lineno"> 715</span>  } </div>
-<div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  <span class="keywordflow">catch</span>(CDynamixelAlarmException &e)</div>
-<div class="line"><a name="l00717"></a><span class="lineno"> 717</span>  {</div>
-<div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  std::cout << e.what() << std::endl;</div>
-<div class="line"><a name="l00719"></a><span class="lineno"> 719</span>  }</div>
-<div class="line"><a name="l00720"></a><span class="lineno"> 720</span> }</div>
-<div class="line"><a name="l00721"></a><span class="lineno"> 721</span> </div>
-<div class="line"><a name="l00722"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a807b976322abcbd06bec90c51ac7cfd9"> 722</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a807b976322abcbd06bec90c51ac7cfd9">CDynamixel_Pan_Tilt::default_parameters</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00723"></a><span class="lineno"> 723</span> {</div>
-<div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  this->info.pan.model=<span class="stringliteral">""</span>;</div>
-<div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  this->info.pan.firmware_ver=(<span class="keywordtype">unsigned</span> char)-1;</div>
-<div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  this->info.pan.gear_ratio=(<span class="keywordtype">unsigned</span> int)-1;</div>
-<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  this->info.pan.encoder_resolution=(<span class="keywordtype">unsigned</span> int)-1;</div>
-<div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  this->info.pan.pid_control=<span class="keyword">false</span>;</div>
-<div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  this->info.pan.max_angle=-1;</div>
-<div class="line"><a name="l00730"></a><span class="lineno"> 730</span>  this->info.pan.center_angle=-1;</div>
-<div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  this->info.pan.max_speed=-1;</div>
-<div class="line"><a name="l00732"></a><span class="lineno"> 732</span>  this->info.pan.baudrate=(<span class="keywordtype">unsigned</span> int)-1;</div>
-<div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  this->info.pan.id=(<span class="keywordtype">unsigned</span> char)-1;</div>
-<div class="line"><a name="l00734"></a><span class="lineno"> 734</span>  this->compliance.pan.cw_compliance_margin=0x00;</div>
-<div class="line"><a name="l00735"></a><span class="lineno"> 735</span>  this->compliance.pan.ccw_compliance_margin=0x00;</div>
-<div class="line"><a name="l00736"></a><span class="lineno"> 736</span>  this->compliance.pan.cw_compliance_slope=0x20;</div>
-<div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  this->compliance.pan.ccw_compliance_slope=0x20;</div>
-<div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  this->pid.pan.p=0x00;</div>
-<div class="line"><a name="l00739"></a><span class="lineno"> 739</span>  this->pid.pan.i=0x00;</div>
-<div class="line"><a name="l00740"></a><span class="lineno"> 740</span>  this->pid.pan.d=0x00;</div>
-<div class="line"><a name="l00741"></a><span class="lineno"> 741</span>  this->config.pan.max_angle=0.0;</div>
-<div class="line"><a name="l00742"></a><span class="lineno"> 742</span>  this->config.pan.min_angle=0.0;</div>
-<div class="line"><a name="l00743"></a><span class="lineno"> 743</span>  this->config.pan.max_temperature=0.0;</div>
-<div class="line"><a name="l00744"></a><span class="lineno"> 744</span>  this->config.pan.max_voltage=0.0;</div>
-<div class="line"><a name="l00745"></a><span class="lineno"> 745</span>  this->config.pan.min_voltage=0.0;</div>
-<div class="line"><a name="l00746"></a><span class="lineno"> 746</span>  this->config.pan.max_torque=0.0;</div>
-<div class="line"><a name="l00747"></a><span class="lineno"> 747</span>  this->min_angle.pan=0.0;</div>
-<div class="line"><a name="l00748"></a><span class="lineno"> 748</span>  this->max_angle.pan=0.0;</div>
-<div class="line"><a name="l00749"></a><span class="lineno"> 749</span> </div>
-<div class="line"><a name="l00750"></a><span class="lineno"> 750</span>  this->info.tilt.model=<span class="stringliteral">""</span>;</div>
-<div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  this->info.tilt.firmware_ver=(<span class="keywordtype">unsigned</span> char)-1;</div>
-<div class="line"><a name="l00752"></a><span class="lineno"> 752</span>  this->info.tilt.gear_ratio=(<span class="keywordtype">unsigned</span> int)-1;</div>
-<div class="line"><a name="l00753"></a><span class="lineno"> 753</span>  this->info.tilt.encoder_resolution=(<span class="keywordtype">unsigned</span> int)-1;</div>
-<div class="line"><a name="l00754"></a><span class="lineno"> 754</span>  this->info.tilt.pid_control=<span class="keyword">false</span>;</div>
-<div class="line"><a name="l00755"></a><span class="lineno"> 755</span>  this->info.tilt.max_angle=-1;</div>
-<div class="line"><a name="l00756"></a><span class="lineno"> 756</span>  this->info.tilt.center_angle=-1;</div>
-<div class="line"><a name="l00757"></a><span class="lineno"> 757</span>  this->info.tilt.max_speed=-1;</div>
-<div class="line"><a name="l00758"></a><span class="lineno"> 758</span>  this->info.tilt.baudrate=(<span class="keywordtype">unsigned</span> int)-1;</div>
-<div class="line"><a name="l00759"></a><span class="lineno"> 759</span>  this->info.tilt.id=(<span class="keywordtype">unsigned</span> char)-1;</div>
-<div class="line"><a name="l00760"></a><span class="lineno"> 760</span>  this->compliance.tilt.cw_compliance_margin=0x00;</div>
-<div class="line"><a name="l00761"></a><span class="lineno"> 761</span>  this->compliance.tilt.ccw_compliance_margin=0x00;</div>
-<div class="line"><a name="l00762"></a><span class="lineno"> 762</span>  this->compliance.tilt.cw_compliance_slope=0x20;</div>
-<div class="line"><a name="l00763"></a><span class="lineno"> 763</span>  this->compliance.tilt.ccw_compliance_slope=0x20;</div>
-<div class="line"><a name="l00764"></a><span class="lineno"> 764</span>  this->pid.tilt.p=0x00;</div>
-<div class="line"><a name="l00765"></a><span class="lineno"> 765</span>  this->pid.tilt.i=0x00;</div>
-<div class="line"><a name="l00766"></a><span class="lineno"> 766</span>  this->pid.tilt.d=0x00;</div>
-<div class="line"><a name="l00767"></a><span class="lineno"> 767</span>  this->config.tilt.max_angle=0.0;</div>
-<div class="line"><a name="l00768"></a><span class="lineno"> 768</span>  this->config.tilt.min_angle=0.0;</div>
-<div class="line"><a name="l00769"></a><span class="lineno"> 769</span>  this->config.tilt.max_temperature=0.0;</div>
-<div class="line"><a name="l00770"></a><span class="lineno"> 770</span>  this->config.tilt.max_voltage=0.0;</div>
-<div class="line"><a name="l00771"></a><span class="lineno"> 771</span>  this->config.tilt.min_voltage=0.0;</div>
-<div class="line"><a name="l00772"></a><span class="lineno"> 772</span>  this->config.tilt.max_torque=0.0;</div>
-<div class="line"><a name="l00773"></a><span class="lineno"> 773</span>  this->min_angle.tilt=0.0;</div>
-<div class="line"><a name="l00774"></a><span class="lineno"> 774</span>  this->max_angle.tilt=0.0;</div>
-<div class="line"><a name="l00775"></a><span class="lineno"> 775</span> </div>
-<div class="line"><a name="l00776"></a><span class="lineno"> 776</span>  exiting = <span class="keyword">false</span>;</div>
-<div class="line"><a name="l00777"></a><span class="lineno"> 777</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a7c6ed83d34470119c13c140a47473f55">reset_torque_moving_state</a>();</div>
-<div class="line"><a name="l00778"></a><span class="lineno"> 778</span>  this->checking_hysteresis.pan = 0.0;</div>
-<div class="line"><a name="l00779"></a><span class="lineno"> 779</span>  this->checking_hysteresis.tilt = 0.0;</div>
-<div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  this->checking_hysteresis_slope.pan = 0.0;</div>
-<div class="line"><a name="l00781"></a><span class="lineno"> 781</span>  this->checking_hysteresis_slope.tilt = 0.0;</div>
-<div class="line"><a name="l00782"></a><span class="lineno"> 782</span>  this->checking_hysteresis_offset.pan = 0.0;</div>
-<div class="line"><a name="l00783"></a><span class="lineno"> 783</span>  this->checking_hysteresis_offset.tilt = 0.0;</div>
-<div class="line"><a name="l00784"></a><span class="lineno"> 784</span> </div>
-<div class="line"><a name="l00785"></a><span class="lineno"> 785</span> }</div>
-<div class="line"><a name="l00786"></a><span class="lineno"> 786</span> </div>
-<div class="line"><a name="l00788"></a><span class="lineno"> 788</span> </div>
-<div class="line"><a name="l00790"></a><span class="lineno"> 790</span> </div>
-<div class="line"><a name="l00791"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f"> 791</a></span> <a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> <a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">CDynamixel_Pan_Tilt::get_position</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00792"></a><span class="lineno"> 792</span> {</div>
-<div class="line"><a name="l00793"></a><span class="lineno"> 793</span>  <a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> data;</div>
-<div class="line"><a name="l00794"></a><span class="lineno"> 794</span> </div>
-<div class="line"><a name="l00795"></a><span class="lineno"> 795</span>  data.pan = <a class="code" href="classCDynamixel__Pan__Tilt.html#aeb20364e3a07a4d2e447fdacf4c63846">get_pan_position</a>();</div>
-<div class="line"><a name="l00796"></a><span class="lineno"> 796</span>  data.tilt = <a class="code" href="classCDynamixel__Pan__Tilt.html#a7f5541fe7c89c9812e396179a67064fb">get_tilt_position</a>();</div>
-<div class="line"><a name="l00797"></a><span class="lineno"> 797</span> </div>
-<div class="line"><a name="l00798"></a><span class="lineno"> 798</span>  <span class="keywordflow">return</span> data;</div>
-<div class="line"><a name="l00799"></a><span class="lineno"> 799</span> }</div>
-<div class="line"><a name="l00800"></a><span class="lineno"> 800</span> </div>
-<div class="line"><a name="l00801"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#aeb20364e3a07a4d2e447fdacf4c63846"> 801</a></span> <span class="keywordtype">double</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#aeb20364e3a07a4d2e447fdacf4c63846">CDynamixel_Pan_Tilt::get_pan_position</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00802"></a><span class="lineno"> 802</span> {</div>
-<div class="line"><a name="l00803"></a><span class="lineno"> 803</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00804"></a><span class="lineno"> 804</span>  {</div>
-<div class="line"><a name="l00805"></a><span class="lineno"> 805</span>  <span class="keywordflow">return</span> this->pan->get_current_angle();</div>
-<div class="line"><a name="l00806"></a><span class="lineno"> 806</span>  }</div>
-<div class="line"><a name="l00807"></a><span class="lineno"> 807</span>  <span class="keywordflow">catch</span>(CException &e)</div>
-<div class="line"><a name="l00808"></a><span class="lineno"> 808</span>  {</div>
-<div class="line"><a name="l00809"></a><span class="lineno"> 809</span>  std::cout << e.what() << std::endl;</div>
-<div class="line"><a name="l00810"></a><span class="lineno"> 810</span>  }</div>
-<div class="line"><a name="l00811"></a><span class="lineno"> 811</span>  <span class="keywordflow">return</span> 0;</div>
-<div class="line"><a name="l00812"></a><span class="lineno"> 812</span> }</div>
-<div class="line"><a name="l00813"></a><span class="lineno"> 813</span> </div>
-<div class="line"><a name="l00814"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a7f5541fe7c89c9812e396179a67064fb"> 814</a></span> <span class="keywordtype">double</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a7f5541fe7c89c9812e396179a67064fb">CDynamixel_Pan_Tilt::get_tilt_position</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00815"></a><span class="lineno"> 815</span> {</div>
-<div class="line"><a name="l00816"></a><span class="lineno"> 816</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00817"></a><span class="lineno"> 817</span>  {</div>
-<div class="line"><a name="l00818"></a><span class="lineno"> 818</span>  <span class="keywordflow">return</span> this->tilt->get_current_angle();</div>
-<div class="line"><a name="l00819"></a><span class="lineno"> 819</span>  }</div>
-<div class="line"><a name="l00820"></a><span class="lineno"> 820</span>  <span class="keywordflow">catch</span>(CException &e)</div>
-<div class="line"><a name="l00821"></a><span class="lineno"> 821</span>  {</div>
-<div class="line"><a name="l00822"></a><span class="lineno"> 822</span>  std::cout << e.what() << std::endl;</div>
-<div class="line"><a name="l00823"></a><span class="lineno"> 823</span>  }</div>
-<div class="line"><a name="l00824"></a><span class="lineno"> 824</span>  <span class="keywordflow">return</span> 0; </div>
-<div class="line"><a name="l00825"></a><span class="lineno"> 825</span> }</div>
-<div class="line"><a name="l00826"></a><span class="lineno"> 826</span> </div>
-<div class="line"><a name="l00827"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705"> 827</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">CDynamixel_Pan_Tilt::get_compliance_control</a>(<a class="code" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> &compliance)</div>
-<div class="line"><a name="l00828"></a><span class="lineno"> 828</span> {</div>
-<div class="line"><a name="l00829"></a><span class="lineno"> 829</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a9e2ba4cccc53f86d1eaf1d6be56aa33a">actualice_compliance_control</a>();</div>
-<div class="line"><a name="l00830"></a><span class="lineno"> 830</span>  compliance = this->compliance;</div>
-<div class="line"><a name="l00831"></a><span class="lineno"> 831</span> }</div>
-<div class="line"><a name="l00832"></a><span class="lineno"> 832</span> </div>
-<div class="line"><a name="l00833"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a75b9ee09cc17f0f89636ec9b0b505aa2"> 833</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a75b9ee09cc17f0f89636ec9b0b505aa2">CDynamixel_Pan_Tilt::set_compliance_control</a>(<a class="code" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> &compliance)</div>
-<div class="line"><a name="l00834"></a><span class="lineno"> 834</span> {</div>
-<div class="line"><a name="l00835"></a><span class="lineno"> 835</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00836"></a><span class="lineno"> 836</span>  {</div>
-<div class="line"><a name="l00837"></a><span class="lineno"> 837</span>  this->pan->set_compliance_control(compliance.pan);</div>
-<div class="line"><a name="l00838"></a><span class="lineno"> 838</span>  this->tilt->set_compliance_control(compliance.tilt);</div>
-<div class="line"><a name="l00839"></a><span class="lineno"> 839</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a9e2ba4cccc53f86d1eaf1d6be56aa33a">actualice_compliance_control</a>();</div>
-<div class="line"><a name="l00840"></a><span class="lineno"> 840</span>  compliance = this->compliance;</div>
-<div class="line"><a name="l00841"></a><span class="lineno"> 841</span>  }</div>
-<div class="line"><a name="l00842"></a><span class="lineno"> 842</span>  <span class="keywordflow">catch</span> (CException &e)</div>
-<div class="line"><a name="l00843"></a><span class="lineno"> 843</span>  {</div>
-<div class="line"><a name="l00844"></a><span class="lineno"> 844</span> </div>
-<div class="line"><a name="l00845"></a><span class="lineno"> 845</span>  }</div>
-<div class="line"><a name="l00846"></a><span class="lineno"> 846</span>  </div>
-<div class="line"><a name="l00847"></a><span class="lineno"> 847</span> }</div>
-<div class="line"><a name="l00848"></a><span class="lineno"> 848</span> </div>
-<div class="line"><a name="l00849"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7"> 849</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">CDynamixel_Pan_Tilt::get_pid_control</a>(<a class="code" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> &pid)</div>
-<div class="line"><a name="l00850"></a><span class="lineno"> 850</span> {</div>
-<div class="line"><a name="l00851"></a><span class="lineno"> 851</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00852"></a><span class="lineno"> 852</span>  {</div>
-<div class="line"><a name="l00853"></a><span class="lineno"> 853</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a9f3a9632ef385372a122dbc8560c3602">actualice_pid_control</a>();</div>
-<div class="line"><a name="l00854"></a><span class="lineno"> 854</span>  pid = this->pid;</div>
-<div class="line"><a name="l00855"></a><span class="lineno"> 855</span>  }</div>
-<div class="line"><a name="l00856"></a><span class="lineno"> 856</span>  <span class="keywordflow">catch</span> (CException &e)</div>
-<div class="line"><a name="l00857"></a><span class="lineno"> 857</span>  {</div>
-<div class="line"><a name="l00858"></a><span class="lineno"> 858</span> </div>
-<div class="line"><a name="l00859"></a><span class="lineno"> 859</span>  }</div>
-<div class="line"><a name="l00860"></a><span class="lineno"> 860</span> }</div>
-<div class="line"><a name="l00861"></a><span class="lineno"> 861</span> </div>
-<div class="line"><a name="l00862"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a12b2332f5fb1d9544b7c46ca0b7b68ff"> 862</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a12b2332f5fb1d9544b7c46ca0b7b68ff">CDynamixel_Pan_Tilt::set_pid_control</a>(<a class="code" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> &pid)</div>
-<div class="line"><a name="l00863"></a><span class="lineno"> 863</span> {</div>
-<div class="line"><a name="l00864"></a><span class="lineno"> 864</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00865"></a><span class="lineno"> 865</span>  {</div>
-<div class="line"><a name="l00866"></a><span class="lineno"> 866</span>  this->pan->set_pid_control(pid.pan);</div>
-<div class="line"><a name="l00867"></a><span class="lineno"> 867</span>  this->tilt->set_pid_control(pid.tilt);</div>
-<div class="line"><a name="l00868"></a><span class="lineno"> 868</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a9f3a9632ef385372a122dbc8560c3602">actualice_pid_control</a>();</div>
-<div class="line"><a name="l00869"></a><span class="lineno"> 869</span>  pid = this->pid;</div>
-<div class="line"><a name="l00870"></a><span class="lineno"> 870</span>  }</div>
-<div class="line"><a name="l00871"></a><span class="lineno"> 871</span>  <span class="keywordflow">catch</span> (CException &e)</div>
-<div class="line"><a name="l00872"></a><span class="lineno"> 872</span>  {</div>
-<div class="line"><a name="l00873"></a><span class="lineno"> 873</span> </div>
-<div class="line"><a name="l00874"></a><span class="lineno"> 874</span>  }</div>
-<div class="line"><a name="l00875"></a><span class="lineno"> 875</span> }</div>
-<div class="line"><a name="l00876"></a><span class="lineno"> 876</span> </div>
-<div class="line"><a name="l00877"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40"> 877</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">CDynamixel_Pan_Tilt::get_pan_tilt_config</a>(<a class="code" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a> &config)</div>
-<div class="line"><a name="l00878"></a><span class="lineno"> 878</span> {</div>
-<div class="line"><a name="l00879"></a><span class="lineno"> 879</span>  config.pan.max_angle = this->config.pan.max_angle; </div>
-<div class="line"><a name="l00880"></a><span class="lineno"> 880</span>  config.pan.min_angle = this->config.pan.min_angle;</div>
-<div class="line"><a name="l00881"></a><span class="lineno"> 881</span>  config.pan.max_temperature = this->config.pan.max_temperature;</div>
-<div class="line"><a name="l00882"></a><span class="lineno"> 882</span>  config.pan.max_voltage = this->config.pan.max_voltage;</div>
-<div class="line"><a name="l00883"></a><span class="lineno"> 883</span>  config.pan.min_voltage = this->config.pan.min_voltage;</div>
-<div class="line"><a name="l00884"></a><span class="lineno"> 884</span>  config.pan.max_torque = this->config.pan.max_torque;</div>
-<div class="line"><a name="l00885"></a><span class="lineno"> 885</span>  config.pan.punch = this->config.pan.punch;</div>
-<div class="line"><a name="l00886"></a><span class="lineno"> 886</span> </div>
-<div class="line"><a name="l00887"></a><span class="lineno"> 887</span>  config.tilt.max_angle = this->config.tilt.max_angle;</div>
-<div class="line"><a name="l00888"></a><span class="lineno"> 888</span>  config.tilt.min_angle = this->config.tilt.min_angle;</div>
-<div class="line"><a name="l00889"></a><span class="lineno"> 889</span>  config.tilt.max_temperature = this->config.tilt.max_temperature;</div>
-<div class="line"><a name="l00890"></a><span class="lineno"> 890</span>  config.tilt.max_voltage = this->config.tilt.max_voltage;</div>
-<div class="line"><a name="l00891"></a><span class="lineno"> 891</span>  config.tilt.min_voltage = this->config.tilt.min_voltage;</div>
-<div class="line"><a name="l00892"></a><span class="lineno"> 892</span>  config.tilt.max_torque = this->config.tilt.max_torque;</div>
-<div class="line"><a name="l00893"></a><span class="lineno"> 893</span>  config.tilt.punch = this->config.tilt.punch;</div>
-<div class="line"><a name="l00894"></a><span class="lineno"> 894</span> }</div>
-<div class="line"><a name="l00895"></a><span class="lineno"> 895</span> </div>
-<div class="line"><a name="l00896"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#ace6bf516ea8008e0b617e7aaa9229f83"> 896</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#ace6bf516ea8008e0b617e7aaa9229f83">CDynamixel_Pan_Tilt::get_pan_tilt_info</a>(<a class="code" href="structDynamixel__pan__tilt__info.html">Dynamixel_pan_tilt_info</a> &info)</div>
-<div class="line"><a name="l00897"></a><span class="lineno"> 897</span> {</div>
-<div class="line"><a name="l00898"></a><span class="lineno"> 898</span>  info.pan.model = this->info.pan.model;</div>
-<div class="line"><a name="l00899"></a><span class="lineno"> 899</span>  info.pan.firmware_ver = this->info.pan.firmware_ver;</div>
-<div class="line"><a name="l00900"></a><span class="lineno"> 900</span>  info.pan.gear_ratio = this->info.pan.gear_ratio;</div>
-<div class="line"><a name="l00901"></a><span class="lineno"> 901</span>  info.pan.encoder_resolution = this->info.pan.encoder_resolution;</div>
-<div class="line"><a name="l00902"></a><span class="lineno"> 902</span>  info.pan.pid_control = this->info.pan.pid_control;</div>
-<div class="line"><a name="l00903"></a><span class="lineno"> 903</span>  info.pan.max_angle = this->info.pan.max_angle;</div>
-<div class="line"><a name="l00904"></a><span class="lineno"> 904</span>  info.pan.center_angle = this->info.pan.center_angle;</div>
-<div class="line"><a name="l00905"></a><span class="lineno"> 905</span>  info.pan.max_speed = this->info.pan.max_speed;</div>
-<div class="line"><a name="l00906"></a><span class="lineno"> 906</span>  info.pan.baudrate = this->info.pan.baudrate;</div>
-<div class="line"><a name="l00907"></a><span class="lineno"> 907</span>  info.pan.id = this->info.pan.id;</div>
-<div class="line"><a name="l00908"></a><span class="lineno"> 908</span> </div>
-<div class="line"><a name="l00909"></a><span class="lineno"> 909</span>  info.tilt.model = this->info.tilt.model;</div>
-<div class="line"><a name="l00910"></a><span class="lineno"> 910</span>  info.tilt.firmware_ver = this->info.tilt.firmware_ver;</div>
-<div class="line"><a name="l00911"></a><span class="lineno"> 911</span>  info.tilt.gear_ratio = this->info.tilt.gear_ratio;</div>
-<div class="line"><a name="l00912"></a><span class="lineno"> 912</span>  info.tilt.encoder_resolution = this->info.tilt.encoder_resolution;</div>
-<div class="line"><a name="l00913"></a><span class="lineno"> 913</span>  info.tilt.pid_control = this->info.tilt.pid_control;</div>
-<div class="line"><a name="l00914"></a><span class="lineno"> 914</span>  info.tilt.max_angle = this->info.tilt.max_angle;</div>
-<div class="line"><a name="l00915"></a><span class="lineno"> 915</span>  info.tilt.center_angle = this->info.tilt.center_angle;</div>
-<div class="line"><a name="l00916"></a><span class="lineno"> 916</span>  info.tilt.max_speed = this->info.tilt.max_speed;</div>
-<div class="line"><a name="l00917"></a><span class="lineno"> 917</span>  info.tilt.baudrate = this->info.tilt.baudrate;</div>
-<div class="line"><a name="l00918"></a><span class="lineno"> 918</span>  info.tilt.id = this->info.tilt.id;</div>
-<div class="line"><a name="l00919"></a><span class="lineno"> 919</span> }</div>
-<div class="line"><a name="l00920"></a><span class="lineno"> 920</span> </div>
-<div class="line"><a name="l00921"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a7c6ed83d34470119c13c140a47473f55"> 921</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a7c6ed83d34470119c13c140a47473f55">CDynamixel_Pan_Tilt::reset_torque_moving_state</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00922"></a><span class="lineno"> 922</span> {</div>
-<div class="line"><a name="l00923"></a><span class="lineno"> 923</span>  pthread_mutex_lock(&(this->mut));</div>
-<div class="line"><a name="l00924"></a><span class="lineno"> 924</span>  this->moving_state.pan = stopped;</div>
-<div class="line"><a name="l00925"></a><span class="lineno"> 925</span>  this->moving_state.tilt = stopped;</div>
-<div class="line"><a name="l00926"></a><span class="lineno"> 926</span>  pthread_mutex_unlock(&(this->mut));</div>
-<div class="line"><a name="l00927"></a><span class="lineno"> 927</span> }</div>
-<div class="line"><a name="l00928"></a><span class="lineno"> 928</span> </div>
-<div class="line"><a name="l00929"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2"> 929</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2">CDynamixel_Pan_Tilt::is_torque_moving</a>(<span class="keywordtype">bool</span> &b)</div>
-<div class="line"><a name="l00930"></a><span class="lineno"> 930</span> {</div>
-<div class="line"><a name="l00931"></a><span class="lineno"> 931</span>  pthread_mutex_lock(&(this->mut));</div>
-<div class="line"><a name="l00932"></a><span class="lineno"> 932</span>  b = (this->moving_state.pan != stopped || this->moving_state.tilt != stopped);</div>
-<div class="line"><a name="l00933"></a><span class="lineno"> 933</span>  pthread_mutex_unlock(&(this->mut));</div>
-<div class="line"><a name="l00934"></a><span class="lineno"> 934</span> }</div>
-<div class="line"><a name="l00935"></a><span class="lineno"> 935</span> </div>
-<div class="line"><a name="l00936"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d"> 936</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">CDynamixel_Pan_Tilt::set_moving_state_pan</a>(Torque_moving_state tms)</div>
-<div class="line"><a name="l00937"></a><span class="lineno"> 937</span> {</div>
-<div class="line"><a name="l00938"></a><span class="lineno"> 938</span>  pthread_mutex_lock(&(this->mut));</div>
-<div class="line"><a name="l00939"></a><span class="lineno"> 939</span>  this->moving_state.pan = tms;</div>
-<div class="line"><a name="l00940"></a><span class="lineno"> 940</span>  pthread_mutex_unlock(&(this->mut));</div>
-<div class="line"><a name="l00941"></a><span class="lineno"> 941</span> }</div>
-<div class="line"><a name="l00942"></a><span class="lineno"> 942</span> </div>
-<div class="line"><a name="l00943"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1"> 943</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">CDynamixel_Pan_Tilt::set_moving_state_tilt</a>(Torque_moving_state tms)</div>
-<div class="line"><a name="l00944"></a><span class="lineno"> 944</span> {</div>
-<div class="line"><a name="l00945"></a><span class="lineno"> 945</span>  pthread_mutex_lock(&(this->mut));</div>
-<div class="line"><a name="l00946"></a><span class="lineno"> 946</span>  this->moving_state.tilt = tms;</div>
-<div class="line"><a name="l00947"></a><span class="lineno"> 947</span>  pthread_mutex_unlock(&(this->mut));</div>
-<div class="line"><a name="l00948"></a><span class="lineno"> 948</span> }</div>
-<div class="line"><a name="l00949"></a><span class="lineno"> 949</span> </div>
-<div class="line"><a name="l00950"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#acb5001b7d7d4c84e478ac3f331e49dc6"> 950</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#acb5001b7d7d4c84e478ac3f331e49dc6">CDynamixel_Pan_Tilt::get_moving_state_pan</a>(Torque_moving_state &tms)</div>
-<div class="line"><a name="l00951"></a><span class="lineno"> 951</span> {</div>
-<div class="line"><a name="l00952"></a><span class="lineno"> 952</span>  pthread_mutex_lock(&(this->mut));</div>
-<div class="line"><a name="l00953"></a><span class="lineno"> 953</span>  tms = this->moving_state.pan;</div>
-<div class="line"><a name="l00954"></a><span class="lineno"> 954</span>  pthread_mutex_unlock(&(this->mut));</div>
-<div class="line"><a name="l00955"></a><span class="lineno"> 955</span> }</div>
-<div class="line"><a name="l00956"></a><span class="lineno"> 956</span> </div>
-<div class="line"><a name="l00957"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a63d0cb761dd51c259fa5fecba5635d0e"> 957</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a63d0cb761dd51c259fa5fecba5635d0e">CDynamixel_Pan_Tilt::get_moving_state_tilt</a>(Torque_moving_state &tms)</div>
-<div class="line"><a name="l00958"></a><span class="lineno"> 958</span> {</div>
-<div class="line"><a name="l00959"></a><span class="lineno"> 959</span>  pthread_mutex_lock(&(this->mut));</div>
-<div class="line"><a name="l00960"></a><span class="lineno"> 960</span>  tms = this->moving_state.tilt;</div>
-<div class="line"><a name="l00961"></a><span class="lineno"> 961</span>  pthread_mutex_unlock(&(this->mut));</div>
-<div class="line"><a name="l00962"></a><span class="lineno"> 962</span> }</div>
-<div class="line"><a name="l00963"></a><span class="lineno"> 963</span> </div>
-<div class="line"><a name="l00964"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a355b9c2a831c51cb833031e4d28d3118"> 964</a></span> <span class="keywordtype">double</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a355b9c2a831c51cb833031e4d28d3118">CDynamixel_Pan_Tilt::get_checking_hysteresis_pan</a>(<span class="keywordtype">double</span> effort)</div>
-<div class="line"><a name="l00965"></a><span class="lineno"> 965</span> {</div>
-<div class="line"><a name="l00966"></a><span class="lineno"> 966</span>  <span class="keywordflow">if</span> (effort == 0.0)</div>
-<div class="line"><a name="l00967"></a><span class="lineno"> 967</span>  {</div>
-<div class="line"><a name="l00968"></a><span class="lineno"> 968</span>  <span class="keywordflow">return</span> 0.0;</div>
-<div class="line"><a name="l00969"></a><span class="lineno"> 969</span>  }</div>
-<div class="line"><a name="l00970"></a><span class="lineno"> 970</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00971"></a><span class="lineno"> 971</span>  {</div>
-<div class="line"><a name="l00972"></a><span class="lineno"> 972</span>  <span class="keywordflow">return</span> this->checking_hysteresis_slope.pan*effort - checking_hysteresis_offset.pan;</div>
-<div class="line"><a name="l00973"></a><span class="lineno"> 973</span>  }</div>
-<div class="line"><a name="l00974"></a><span class="lineno"> 974</span> }</div>
-<div class="line"><a name="l00975"></a><span class="lineno"> 975</span> </div>
-<div class="line"><a name="l00976"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#afdbc56d736257a36602ed7b7abee04b8"> 976</a></span> <span class="keywordtype">double</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#afdbc56d736257a36602ed7b7abee04b8">CDynamixel_Pan_Tilt::get_checking_hysteresis_tilt</a>(<span class="keywordtype">double</span> effort)</div>
-<div class="line"><a name="l00977"></a><span class="lineno"> 977</span> {</div>
-<div class="line"><a name="l00978"></a><span class="lineno"> 978</span>  <span class="keywordflow">if</span> (effort == 0.0)</div>
-<div class="line"><a name="l00979"></a><span class="lineno"> 979</span>  {</div>
-<div class="line"><a name="l00980"></a><span class="lineno"> 980</span>  <span class="keywordflow">return</span> 0.0;</div>
-<div class="line"><a name="l00981"></a><span class="lineno"> 981</span>  }</div>
-<div class="line"><a name="l00982"></a><span class="lineno"> 982</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00983"></a><span class="lineno"> 983</span>  {</div>
-<div class="line"><a name="l00984"></a><span class="lineno"> 984</span>  <span class="keywordflow">return</span> this->checking_hysteresis_slope.tilt*effort - checking_hysteresis_offset.tilt;</div>
-<div class="line"><a name="l00985"></a><span class="lineno"> 985</span>  }</div>
-<div class="line"><a name="l00986"></a><span class="lineno"> 986</span> }</div>
-<div class="line"><a name="l00987"></a><span class="lineno"> 987</span> </div>
-<div class="line"><a name="l00989"></a><span class="lineno"> 989</span> </div>
-<div class="line"><a name="l00991"></a><span class="lineno"> 991</span> </div>
-<div class="line"><a name="l00992"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707"> 992</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">CDynamixel_Pan_Tilt::print_current_position</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00993"></a><span class="lineno"> 993</span> {</div>
-<div class="line"><a name="l00994"></a><span class="lineno"> 994</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(this-><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>());</div>
-<div class="line"><a name="l00995"></a><span class="lineno"> 995</span> }</div>
-<div class="line"><a name="l00996"></a><span class="lineno"> 996</span> </div>
-<div class="line"><a name="l00997"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97"> 997</a></span> <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">CDynamixel_Pan_Tilt::print_pan_tilt_data</a>(<a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> data)</div>
-<div class="line"><a name="l00998"></a><span class="lineno"> 998</span> {</div>
-<div class="line"><a name="l00999"></a><span class="lineno"> 999</span>  std::cout << <span class="stringliteral">"("</span> << data.pan << <span class="stringliteral">" , "</span> << data.tilt << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span> }</div>
-<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span> </div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a9e2ba4cccc53f86d1eaf1d6be56aa33a"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a9e2ba4cccc53f86d1eaf1d6be56aa33a">CDynamixel_Pan_Tilt::actualice_compliance_control</a></div><div class="ttdeci">void actualice_compliance_control(void)</div><div class="ttdoc">Function to actualice the variable of compliance control of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00709">dynamixel_pan_tilt.cpp:709</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_afdbc56d736257a36602ed7b7abee04b8"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#afdbc56d736257a36602ed7b7abee04b8">CDynamixel_Pan_Tilt::get_checking_hysteresis_tilt</a></div><div class="ttdeci">double get_checking_hysteresis_tilt(double effort)</div><div class="ttdoc">Function to calculate the angle hysteresis depending on the desired effort for the tilt servo...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00976">dynamixel_pan_tilt.cpp:976</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a70eeda40cf79b86160f437e6f15b6c1e"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a70eeda40cf79b86160f437e6f15b6c1e">CDynamixel_Pan_Tilt::CDynamixel_Pan_Tilt</a></div><div class="ttdeci">CDynamixel_Pan_Tilt(std::string &name_pan_tilt, CDynamixelServer *dyn_server_pan_tilt, unsigned char dev_id_pan, unsigned char dev_id_tilt, dyn_version_t version_servos=dyn_version1)</div><div class="ttdoc">The class constructor. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00032">dynamixel_pan_tilt.cpp:32</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a63d0cb761dd51c259fa5fecba5635d0e"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a63d0cb761dd51c259fa5fecba5635d0e">CDynamixel_Pan_Tilt::get_moving_state_tilt</a></div><div class="ttdeci">void get_moving_state_tilt(Torque_moving_state &tms)</div><div class="ttdoc">Function to get a value on tilt's moving state. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00957">dynamixel_pan_tilt.cpp:957</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a0c1cf233030cb6e587a7747a9721894f"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">CDynamixel_Pan_Tilt::load_config</a></div><div class="ttdeci">void load_config(Dynamixel_pan_tilt_config &config)</div><div class="ttdoc">Function for the configuration of the pan-tilt. If some parameters are changed internally, it's actualiced on the config variable. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00127">dynamixel_pan_tilt.cpp:127</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ace6bf516ea8008e0b617e7aaa9229f83"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ace6bf516ea8008e0b617e7aaa9229f83">CDynamixel_Pan_Tilt::get_pan_tilt_info</a></div><div class="ttdeci">void get_pan_tilt_info(Dynamixel_pan_tilt_info &info)</div><div class="ttdoc">Function to get the information of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00896">dynamixel_pan_tilt.cpp:896</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__compliance_html"><div class="ttname"><a href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a></div><div class="ttdoc">A struct to save the compliance control information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00117">dynamixel_pan_tilt.h:117</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a82ac164454b67542e3172d1971a15bd7"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a82ac164454b67542e3172d1971a15bd7">CDynamixel_Pan_Tilt::move_torque_tilt</a></div><div class="ttdeci">void move_torque_tilt(double &speed)</div><div class="ttdoc">Function to move the tilt servo on endless mode. If the value passed is out of range, it'll be changed to the value of the limit. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00521">dynamixel_pan_tilt.cpp:521</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a1f07aaa4ea74a6209a26af4c9f6da0d7"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a1f07aaa4ea74a6209a26af4c9f6da0d7">CDynamixel_Pan_Tilt::move_relative_angle_pan</a></div><div class="ttdeci">void move_relative_angle_pan(double &angle, double &speed)</div><div class="ttdoc">Function to move the pan servo a specific angle relative to the current position by a specific speed...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00470">dynamixel_pan_tilt.cpp:470</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a1fd325c2b9e515ff25bb139cc13df5ca"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a1fd325c2b9e515ff25bb139cc13df5ca">CDynamixel_Pan_Tilt::move_relative_angle_tilt</a></div><div class="ttdeci">void move_relative_angle_tilt(double &angle, double &speed)</div><div class="ttdoc">Function to move the tilt servo a specific angle relative to the current position by a specific speed...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00476">dynamixel_pan_tilt.cpp:476</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a0a17ec8df1a85377d9a43dd586dfb707"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">CDynamixel_Pan_Tilt::print_current_position</a></div><div class="ttdeci">void print_current_position(void)</div><div class="ttdoc">User firendly function to print the absolute position of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00992">dynamixel_pan_tilt.cpp:992</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_af3511d52e4ab75ecab88e1048be115e7"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">CDynamixel_Pan_Tilt::get_pid_control</a></div><div class="ttdeci">void get_pid_control(Dynamixel_pan_tilt_pid &pid)</div><div class="ttdoc">Function to get the PID values of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00849">dynamixel_pan_tilt.cpp:849</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_acb5001b7d7d4c84e478ac3f331e49dc6"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#acb5001b7d7d4c84e478ac3f331e49dc6">CDynamixel_Pan_Tilt::get_moving_state_pan</a></div><div class="ttdeci">void get_moving_state_pan(Torque_moving_state &tms)</div><div class="ttdoc">Function to get a value on pan's moving state. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00950">dynamixel_pan_tilt.cpp:950</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__data_html"><div class="ttname"><a href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a></div><div class="ttdoc">A general struct to save data. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00042">dynamixel_pan_tilt.h:42</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ad4b3a35c2e651908bd3f296667c111aa"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">CDynamixel_Pan_Tilt::stop</a></div><div class="ttdeci">void stop(void)</div><div class="ttdoc">Function to stop the current movement of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00623">dynamixel_pan_tilt.cpp:623</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__config_html"><div class="ttname"><a href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a></div><div class="ttdoc">A struct to save the configuration information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00067">dynamixel_pan_tilt.h:67</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a7a0e926f05793039514efca0e5d8b83f"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">CDynamixel_Pan_Tilt::get_position</a></div><div class="ttdeci">Dynamixel_pan_tilt_data get_position(void)</div><div class="ttdoc">Function to get the position of both servos in degrees. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00791">dynamixel_pan_tilt.cpp:791</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a95e6138ad6fd8db61a0da0d463abca8c"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a95e6138ad6fd8db61a0da0d463abca8c">CDynamixel_Pan_Tilt::actualice_config</a></div><div class="ttdeci">void actualice_config(void)</div><div class="ttdoc">Function to actualice the variable of configuration of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00647">dynamixel_pan_tilt.cpp:647</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__info_html"><div class="ttname"><a href="structDynamixel__pan__tilt__info.html">Dynamixel_pan_tilt_info</a></div><div class="ttdoc">A struct to save the Pan_Tilt information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00095">dynamixel_pan_tilt.h:95</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a9fc2e401160aa547dafde7727a8fd705"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">CDynamixel_Pan_Tilt::get_compliance_control</a></div><div class="ttdeci">void get_compliance_control(Dynamixel_pan_tilt_compliance &compliance)</div><div class="ttdoc">Function to get the compliance configuration of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00827">dynamixel_pan_tilt.cpp:827</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ad955d5429115e35405dcf998148fec31"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ad955d5429115e35405dcf998148fec31">CDynamixel_Pan_Tilt::~CDynamixel_Pan_Tilt</a></div><div class="ttdeci">virtual ~CDynamixel_Pan_Tilt()</div><div class="ttdoc">The destructor. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00087">dynamixel_pan_tilt.cpp:87</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a7c6ed83d34470119c13c140a47473f55"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a7c6ed83d34470119c13c140a47473f55">CDynamixel_Pan_Tilt::reset_torque_moving_state</a></div><div class="ttdeci">void reset_torque_moving_state(void)</div><div class="ttdoc">Function to set the both servos_state to stopped. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00921">dynamixel_pan_tilt.cpp:921</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a34ff2fa229a07dbd1554811a6a4461b1"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">CDynamixel_Pan_Tilt::set_moving_state_tilt</a></div><div class="ttdeci">void set_moving_state_tilt(Torque_moving_state tms)</div><div class="ttdoc">Function to set a value on tilt's moving state. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00943">dynamixel_pan_tilt.cpp:943</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a3110f9418cd6de0574355285de9fad40"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">CDynamixel_Pan_Tilt::get_pan_tilt_config</a></div><div class="ttdeci">void get_pan_tilt_config(Dynamixel_pan_tilt_config &config)</div><div class="ttdoc">Function to get the configuration of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00877">dynamixel_pan_tilt.cpp:877</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a355b9c2a831c51cb833031e4d28d3118"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a355b9c2a831c51cb833031e4d28d3118">CDynamixel_Pan_Tilt::get_checking_hysteresis_pan</a></div><div class="ttdeci">double get_checking_hysteresis_pan(double effort)</div><div class="ttdoc">Function to calculate the angle hysteresis depending on the desired effort for the pan servo...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00964">dynamixel_pan_tilt.cpp:964</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a30d96265819910c9b39b915963fbfed2"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a30d96265819910c9b39b915963fbfed2">CDynamixel_Pan_Tilt::actualice_info</a></div><div class="ttdeci">void actualice_info(void)</div><div class="ttdoc">Function to actualice the variable with the information of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00696">dynamixel_pan_tilt.cpp:696</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__pid_html"><div class="ttname"><a href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a></div><div class="ttdoc">A struct to save the pid control information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00138">dynamixel_pan_tilt.h:138</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_acc9effb2fbf30fd55cb70c4a629bc7d1"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">CDynamixel_Pan_Tilt::move_torque</a></div><div class="ttdeci">void move_torque(Dynamixel_pan_tilt_data &speed)</div><div class="ttdoc">Function to move the pan-tilt on endless mode for both servos. If some of the values passed are out o...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00482">dynamixel_pan_tilt.cpp:482</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a4c37ba8c5e67c76bf5faddb1d6ade76d"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">CDynamixel_Pan_Tilt::set_moving_state_pan</a></div><div class="ttdeci">void set_moving_state_pan(Torque_moving_state tms)</div><div class="ttdoc">Function to set a value on pan's moving state. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00936">dynamixel_pan_tilt.cpp:936</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_aa2a78fc58a8583d1567e0e61ae583559"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#aa2a78fc58a8583d1567e0e61ae583559">CDynamixel_Pan_Tilt::move_torque_pan</a></div><div class="ttdeci">void move_torque_pan(double &speed)</div><div class="ttdoc">Function to move the pan servo on endless mode. If the value passed is out of range, it'll be changed to the value of the limit. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00488">dynamixel_pan_tilt.cpp:488</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a75b9ee09cc17f0f89636ec9b0b505aa2"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a75b9ee09cc17f0f89636ec9b0b505aa2">CDynamixel_Pan_Tilt::set_compliance_control</a></div><div class="ttdeci">void set_compliance_control(Dynamixel_pan_tilt_compliance &compliance)</div><div class="ttdoc">Function to set the compliance configuration of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00833">dynamixel_pan_tilt.cpp:833</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ad1b9601a478923ae2edd418cc14b570f"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ad1b9601a478923ae2edd418cc14b570f">CDynamixel_Pan_Tilt::move_relative_angle</a></div><div class="ttdeci">void move_relative_angle(Dynamixel_pan_tilt_data &angle, Dynamixel_pan_tilt_data &speed)</div><div class="ttdoc">Function to move the pan-tilt a specific angle relative to the current position by a specific speed...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00464">dynamixel_pan_tilt.cpp:464</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a0fd919d8c6d339a4d3a8e6ba1f35727c"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a0fd919d8c6d339a4d3a8e6ba1f35727c">CDynamixel_Pan_Tilt::actualice_control_mode</a></div><div class="ttdeci">void actualice_control_mode(void)</div><div class="ttdoc">Function to actualice the variable of control mode of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00670">dynamixel_pan_tilt.cpp:670</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a12b2332f5fb1d9544b7c46ca0b7b68ff"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a12b2332f5fb1d9544b7c46ca0b7b68ff">CDynamixel_Pan_Tilt::set_pid_control</a></div><div class="ttdeci">void set_pid_control(Dynamixel_pan_tilt_pid &pid)</div><div class="ttdoc">Function to set the PID values of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00862">dynamixel_pan_tilt.cpp:862</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_aeb20364e3a07a4d2e447fdacf4c63846"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#aeb20364e3a07a4d2e447fdacf4c63846">CDynamixel_Pan_Tilt::get_pan_position</a></div><div class="ttdeci">double get_pan_position(void)</div><div class="ttdoc">Function to get the position of the pan servo in degrees. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00801">dynamixel_pan_tilt.cpp:801</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a7f5541fe7c89c9812e396179a67064fb"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a7f5541fe7c89c9812e396179a67064fb">CDynamixel_Pan_Tilt::get_tilt_position</a></div><div class="ttdeci">double get_tilt_position(void)</div><div class="ttdoc">Function to get the position of the tilt servo in degrees. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00814">dynamixel_pan_tilt.cpp:814</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a4579aab486bced3d8a19b5ff0b001847"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a4579aab486bced3d8a19b5ff0b001847">CDynamixel_Pan_Tilt::move_absolute_angle</a></div><div class="ttdeci">void move_absolute_angle(Dynamixel_pan_tilt_data &angle, Dynamixel_pan_tilt_data &speed)</div><div class="ttdoc">Function to move the pan-tilt to a specific position by a specific speed. If some of the values passe...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00374">dynamixel_pan_tilt.cpp:374</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a807b976322abcbd06bec90c51ac7cfd9"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a807b976322abcbd06bec90c51ac7cfd9">CDynamixel_Pan_Tilt::default_parameters</a></div><div class="ttdeci">void default_parameters(void)</div><div class="ttdoc">Function to set all the parameters to the default value. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00722">dynamixel_pan_tilt.cpp:722</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html">CDynamixel_Pan_Tilt</a></div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00224">dynamixel_pan_tilt.h:224</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_af8ef151d78af2866bd9269bc32ffb747"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#af8ef151d78af2866bd9269bc32ffb747">CDynamixel_Pan_Tilt::actualice_parameters</a></div><div class="ttdeci">void actualice_parameters(void)</div><div class="ttdoc">Function to actualice all the variables with all the parameters of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00637">dynamixel_pan_tilt.cpp:637</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a53fdb60e41ee610f3f8810fb56563dfa"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a53fdb60e41ee610f3f8810fb56563dfa">CDynamixel_Pan_Tilt::checking_angle_limits</a></div><div class="ttdeci">static void * checking_angle_limits(void *arg)</div><div class="ttdoc">Function to be called for the thread in charge to check the angle limits on torque movement...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00553">dynamixel_pan_tilt.cpp:553</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a771a12ec9ca210a5f27f11994918da65"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a771a12ec9ca210a5f27f11994918da65">CDynamixel_Pan_Tilt::actualice_angle_limits</a></div><div class="ttdeci">void actualice_angle_limits(void)</div><div class="ttdoc">Function to actualice the variable of the angle limits of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00662">dynamixel_pan_tilt.cpp:662</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a9f6c1c1e15f715520f45f195ce8f6a97"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">CDynamixel_Pan_Tilt::print_pan_tilt_data</a></div><div class="ttdeci">void print_pan_tilt_data(Dynamixel_pan_tilt_data data)</div><div class="ttdoc">User friendly function to print any pan-tilt data. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00997">dynamixel_pan_tilt.cpp:997</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a312e7e5d4bd8ccbbb9807d4d1ce2f5b6"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a312e7e5d4bd8ccbbb9807d4d1ce2f5b6">CDynamixel_Pan_Tilt::move_absolute_angle_tilt</a></div><div class="ttdeci">void move_absolute_angle_tilt(double &angle, double &speed)</div><div class="ttdoc">Function to move the pan servo to a specific position by a specific speed. If some of the values pass...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00422">dynamixel_pan_tilt.cpp:422</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a9f3a9632ef385372a122dbc8560c3602"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a9f3a9632ef385372a122dbc8560c3602">CDynamixel_Pan_Tilt::actualice_pid_control</a></div><div class="ttdeci">void actualice_pid_control(void)</div><div class="ttdoc">Function to actualice the variable of pid control of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00683">dynamixel_pan_tilt.cpp:683</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_af4ecc2d80ee122db640a9377b164c7f9"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#af4ecc2d80ee122db640a9377b164c7f9">CDynamixel_Pan_Tilt::move_absolute_angle_pan</a></div><div class="ttdeci">void move_absolute_angle_pan(double &angle, double &speed)</div><div class="ttdoc">Function to move the pan servo to a specific position by a specific speed. If some of the values pass...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00380">dynamixel_pan_tilt.cpp:380</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ae592a3b88c267260b2f0bb844cbc31b2"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2">CDynamixel_Pan_Tilt::is_torque_moving</a></div><div class="ttdeci">void is_torque_moving(bool &b)</div><div class="ttdoc">Function that returns if any servo is moving on torque mode. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00929">dynamixel_pan_tilt.cpp:929</a></div></div>
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-<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// Copyright (C) 2016 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.</span></div>
-<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Author Alejandro Lopez Gestoso (alopez@iri.upc.edu)</span></div>
-<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// All rights reserved.</span></div>
-<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">//</span></div>
-<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// This file is part of iriutils</span></div>
-<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// iriutils is free software: you can redistribute it and/or modify</span></div>
-<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// it under the terms of the GNU Lesser General Public License as published by</span></div>
-<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// the Free Software Foundation, either version 3 of the License, or</span></div>
-<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// at your option) any later version.</span></div>
-<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">//</span></div>
-<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// This program is distributed in the hope that it will be useful,</span></div>
-<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
-<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span></div>
-<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">// GNU Lesser General Public License for more details.</span></div>
-<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">//</span></div>
-<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// You should have received a copy of the GNU Lesser General Public License</span></div>
-<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">// along with this program. If not, see <http://www.gnu.org/licenses/>.</span></div>
-<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div>
-<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#ifndef _DYNAMIXEL_PAN_TILT_H</span></div>
-<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#define _DYNAMIXEL_PAN_TILT_H</span></div>
-<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> </div>
-<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include "dynamixel_motor.h"</span></div>
-<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include "dynamixelserver.h"</span></div>
-<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include "dynamixelexceptions.h"</span></div>
-<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#include "dynamixel_motor_exceptions.h"</span></div>
-<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include <stdio.h></span></div>
-<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include <stdlib.h></span></div>
-<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#include <string.h></span></div>
-<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include <pthread.h></span></div>
-<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> </div>
-<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#define CHECKING_TIME_INTERVAL 1000</span></div>
-<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div>
-<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structDynamixel__pan__tilt__data.html"> 42</a></span> <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
-<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div>
-<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordtype">double</span> pan;</div>
-<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keywordtype">double</span> tilt;</div>
-<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> }<a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a>;</div>
-<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div>
-<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structDynamixel__pan__tilt__config.html"> 67</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span></div>
-<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> {</div>
-<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  TDynamixel_config pan;</div>
-<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  TDynamixel_config tilt;</div>
-<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> }<a class="code" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a>;</div>
-<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div>
-<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="structDynamixel__pan__tilt__info.html"> 95</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span></div>
-<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> {</div>
-<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  TDynamixel_info pan;</div>
-<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  TDynamixel_info tilt;</div>
-<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> }<a class="code" href="structDynamixel__pan__tilt__info.html">Dynamixel_pan_tilt_info</a>;</div>
-<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div>
-<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="structDynamixel__pan__tilt__compliance.html"> 117</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span></div>
-<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> {</div>
-<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  TDynamixel_compliance pan;</div>
-<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  TDynamixel_compliance tilt;</div>
-<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> }<a class="code" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a>;</div>
-<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div>
-<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="structDynamixel__pan__tilt__pid.html"> 138</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span></div>
-<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> {</div>
-<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  TDynamixel_pid pan;</div>
-<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  TDynamixel_pid tilt;</div>
-<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> }<a class="code" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a>;</div>
-<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div>
-<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="structControl__mode__pan__tilt.html"> 158</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span></div>
-<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> {</div>
-<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  control_mode pan;</div>
-<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  control_mode tilt;</div>
-<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> }<a class="code" href="structControl__mode__pan__tilt.html">Control_mode_pan_tilt</a>;</div>
-<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> </div>
-<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">typedef</span> <span class="keyword">enum</span> {positive_torque = 1, stopped = 0, negative_torque = -1} Torque_moving_state;</div>
-<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> </div>
-<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="structTorque__pan__tilt__moving__state.html"> 181</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span></div>
-<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> {</div>
-<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  Torque_moving_state pan;</div>
-<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  Torque_moving_state tilt;</div>
-<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> }<a class="code" href="structTorque__pan__tilt__moving__state.html">Torque_pan_tilt_moving_state</a>;</div>
-<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> </div>
-<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classCDynamixel__Pan__Tilt.html"> 224</a></span> <span class="keyword">class </span><a class="code" href="classCDynamixel__Pan__Tilt.html">CDynamixel_Pan_Tilt</a></div>
-<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> {</div>
-<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> </div>
-<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keyword">private</span>:</div>
-<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  CDynamixelMotor *pan;</div>
-<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  CDynamixelMotor *tilt;</div>
-<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> </div>
-<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> min_angle, max_angle;</div>
-<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div>
-<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <a class="code" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a> config; </div>
-<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <a class="code" href="structDynamixel__pan__tilt__info.html">Dynamixel_pan_tilt_info</a> info; </div>
-<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <a class="code" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> compliance; </div>
-<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <a class="code" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> pid; </div>
-<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <a class="code" href="structControl__mode__pan__tilt.html">Control_mode_pan_tilt</a> mode; </div>
-<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> </div>
-<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  pthread_t checking_thread;</div>
-<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keywordtype">bool</span> torque_moving, exiting;</div>
-<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  pthread_mutex_t mut;</div>
-<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <a class="code" href="structTorque__pan__tilt__moving__state.html">Torque_pan_tilt_moving_state</a> moving_state;</div>
-<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> checking_hysteresis, checking_hysteresis_offset, checking_hysteresis_slope;</div>
-<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> </div>
-<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keyword">protected</span>:</div>
-<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a807b976322abcbd06bec90c51ac7cfd9">default_parameters</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> </div>
-<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#af8ef151d78af2866bd9269bc32ffb747">actualice_parameters</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> </div>
-<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a95e6138ad6fd8db61a0da0d463abca8c">actualice_config</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> </div>
-<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a9e2ba4cccc53f86d1eaf1d6be56aa33a">actualice_compliance_control</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> </div>
-<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a771a12ec9ca210a5f27f11994918da65">actualice_angle_limits</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> </div>
-<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a0fd919d8c6d339a4d3a8e6ba1f35727c">actualice_control_mode</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> </div>
-<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a9f3a9632ef385372a122dbc8560c3602">actualice_pid_control</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> </div>
-<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a30d96265819910c9b39b915963fbfed2">actualice_info</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> </div>
-<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> *<a class="code" href="classCDynamixel__Pan__Tilt.html#a53fdb60e41ee610f3f8810fb56563dfa">checking_angle_limits</a>(<span class="keywordtype">void</span> *arg);</div>
-<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> </div>
-<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a7c6ed83d34470119c13c140a47473f55">reset_torque_moving_state</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> </div>
-<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2">is_torque_moving</a>(<span class="keywordtype">bool</span> &b);</div>
-<div class="line"><a name="l00313"></a><span class="lineno"> 313</span> </div>
-<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">set_moving_state_pan</a>(Torque_moving_state tms);</div>
-<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> </div>
-<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#acb5001b7d7d4c84e478ac3f331e49dc6">get_moving_state_pan</a>(Torque_moving_state &tms);</div>
-<div class="line"><a name="l00327"></a><span class="lineno"> 327</span> </div>
-<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">set_moving_state_tilt</a>(Torque_moving_state tms);</div>
-<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> </div>
-<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a63d0cb761dd51c259fa5fecba5635d0e">get_moving_state_tilt</a>(Torque_moving_state &tms);</div>
-<div class="line"><a name="l00341"></a><span class="lineno"> 341</span> </div>
-<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordtype">double</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a355b9c2a831c51cb833031e4d28d3118">get_checking_hysteresis_pan</a>(<span class="keywordtype">double</span> effort);</div>
-<div class="line"><a name="l00350"></a><span class="lineno"> 350</span> </div>
-<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="keywordtype">double</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#afdbc56d736257a36602ed7b7abee04b8">get_checking_hysteresis_tilt</a>(<span class="keywordtype">double</span> effort);</div>
-<div class="line"><a name="l00359"></a><span class="lineno"> 359</span> </div>
-<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <span class="keyword">public</span>:</div>
-<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  </div>
-<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html#a70eeda40cf79b86160f437e6f15b6c1e">CDynamixel_Pan_Tilt</a>(std::string& name_pan_tilt, CDynamixelServer *dyn_server_pan_tilt, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> dev_id_pan, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> dev_id_tilt, dyn_version_t version_servos=dyn_version1);</div>
-<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  </div>
-<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <span class="keyword">virtual</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#ad955d5429115e35405dcf998148fec31">~CDynamixel_Pan_Tilt</a>();</div>
-<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  </div>
-<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">load_config</a>(<a class="code" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a> &config);</div>
-<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  </div>
-<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#ace6bf516ea8008e0b617e7aaa9229f83">get_pan_tilt_info</a>(<a class="code" href="structDynamixel__pan__tilt__info.html">Dynamixel_pan_tilt_info</a> &info);</div>
-<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  </div>
-<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(<a class="code" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a> &config);</div>
-<div class="line"><a name="l00399"></a><span class="lineno"> 399</span> </div>
-<div class="line"><a name="l00400"></a><span class="lineno"> 400</span> </div>
-<div class="line"><a name="l00401"></a><span class="lineno"> 401</span> <span class="preprocessor">#ifdef _HAVE_XSD</span></div>
-<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  </div>
-<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">load_config</a>(std::string &filename);</div>
-<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  </div>
-<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  <span class="keywordtype">void</span> save_config(std::string &filename);</div>
-<div class="line"><a name="l00416"></a><span class="lineno"> 416</span> </div>
-<div class="line"><a name="l00417"></a><span class="lineno"> 417</span> <span class="preprocessor">#endif</span></div>
-<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  </div>
-<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> <a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  </div>
-<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <span class="keywordtype">double</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#aeb20364e3a07a4d2e447fdacf4c63846">get_pan_position</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  </div>
-<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  <span class="keywordtype">double</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a7f5541fe7c89c9812e396179a67064fb">get_tilt_position</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  </div>
-<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a4579aab486bced3d8a19b5ff0b001847">move_absolute_angle</a>(<a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &angle, <a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &speed);</div>
-<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  </div>
-<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#ad1b9601a478923ae2edd418cc14b570f">move_relative_angle</a>(<a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &angle, <a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &speed);</div>
-<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  </div>
-<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">move_torque</a>(<a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> &speed);</div>
-<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  </div>
-<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#af4ecc2d80ee122db640a9377b164c7f9">move_absolute_angle_pan</a>(<span class="keywordtype">double</span> &angle, <span class="keywordtype">double</span> &speed);</div>
-<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  </div>
-<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a1f07aaa4ea74a6209a26af4c9f6da0d7">move_relative_angle_pan</a>(<span class="keywordtype">double</span> &angle, <span class="keywordtype">double</span> &speed);</div>
-<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  </div>
-<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#aa2a78fc58a8583d1567e0e61ae583559">move_torque_pan</a>(<span class="keywordtype">double</span> &speed);</div>
-<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  </div>
-<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a312e7e5d4bd8ccbbb9807d4d1ce2f5b6">move_absolute_angle_tilt</a>(<span class="keywordtype">double</span> &angle, <span class="keywordtype">double</span> &speed);</div>
-<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  </div>
-<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a1fd325c2b9e515ff25bb139cc13df5ca">move_relative_angle_tilt</a>(<span class="keywordtype">double</span> &angle, <span class="keywordtype">double</span> &speed);</div>
-<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  </div>
-<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a82ac164454b67542e3172d1971a15bd7">move_torque_tilt</a>(<span class="keywordtype">double</span> &speed);</div>
-<div class="line"><a name="l00520"></a><span class="lineno"> 520</span> </div>
-<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">stop</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00526"></a><span class="lineno"> 526</span> </div>
-<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">get_compliance_control</a>(<a class="code" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> &compliance);</div>
-<div class="line"><a name="l00533"></a><span class="lineno"> 533</span> </div>
-<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a75b9ee09cc17f0f89636ec9b0b505aa2">set_compliance_control</a>(<a class="code" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> &compliance);</div>
-<div class="line"><a name="l00540"></a><span class="lineno"> 540</span> </div>
-<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">get_pid_control</a>(<a class="code" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> &pid);</div>
-<div class="line"><a name="l00547"></a><span class="lineno"> 547</span> </div>
-<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a12b2332f5fb1d9544b7c46ca0b7b68ff">set_pid_control</a>(<a class="code" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> &pid);</div>
-<div class="line"><a name="l00554"></a><span class="lineno"> 554</span> </div>
-<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00560"></a><span class="lineno"> 560</span> </div>
-<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  <span class="keywordtype">void</span> <a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(<a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> data);</div>
-<div class="line"><a name="l00567"></a><span class="lineno"> 567</span> };</div>
-<div class="line"><a name="l00568"></a><span class="lineno"> 568</span> </div>
-<div class="line"><a name="l00569"></a><span class="lineno"> 569</span> <span class="preprocessor">#endif</span></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a9e2ba4cccc53f86d1eaf1d6be56aa33a"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a9e2ba4cccc53f86d1eaf1d6be56aa33a">CDynamixel_Pan_Tilt::actualice_compliance_control</a></div><div class="ttdeci">void actualice_compliance_control(void)</div><div class="ttdoc">Function to actualice the variable of compliance control of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00709">dynamixel_pan_tilt.cpp:709</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_afdbc56d736257a36602ed7b7abee04b8"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#afdbc56d736257a36602ed7b7abee04b8">CDynamixel_Pan_Tilt::get_checking_hysteresis_tilt</a></div><div class="ttdeci">double get_checking_hysteresis_tilt(double effort)</div><div class="ttdoc">Function to calculate the angle hysteresis depending on the desired effort for the tilt servo...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00976">dynamixel_pan_tilt.cpp:976</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a70eeda40cf79b86160f437e6f15b6c1e"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a70eeda40cf79b86160f437e6f15b6c1e">CDynamixel_Pan_Tilt::CDynamixel_Pan_Tilt</a></div><div class="ttdeci">CDynamixel_Pan_Tilt(std::string &name_pan_tilt, CDynamixelServer *dyn_server_pan_tilt, unsigned char dev_id_pan, unsigned char dev_id_tilt, dyn_version_t version_servos=dyn_version1)</div><div class="ttdoc">The class constructor. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00032">dynamixel_pan_tilt.cpp:32</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a63d0cb761dd51c259fa5fecba5635d0e"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a63d0cb761dd51c259fa5fecba5635d0e">CDynamixel_Pan_Tilt::get_moving_state_tilt</a></div><div class="ttdeci">void get_moving_state_tilt(Torque_moving_state &tms)</div><div class="ttdoc">Function to get a value on tilt's moving state. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00957">dynamixel_pan_tilt.cpp:957</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a0c1cf233030cb6e587a7747a9721894f"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">CDynamixel_Pan_Tilt::load_config</a></div><div class="ttdeci">void load_config(Dynamixel_pan_tilt_config &config)</div><div class="ttdoc">Function for the configuration of the pan-tilt. If some parameters are changed internally, it's actualiced on the config variable. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00127">dynamixel_pan_tilt.cpp:127</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ace6bf516ea8008e0b617e7aaa9229f83"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ace6bf516ea8008e0b617e7aaa9229f83">CDynamixel_Pan_Tilt::get_pan_tilt_info</a></div><div class="ttdeci">void get_pan_tilt_info(Dynamixel_pan_tilt_info &info)</div><div class="ttdoc">Function to get the information of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00896">dynamixel_pan_tilt.cpp:896</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__compliance_html"><div class="ttname"><a href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a></div><div class="ttdoc">A struct to save the compliance control information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00117">dynamixel_pan_tilt.h:117</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a82ac164454b67542e3172d1971a15bd7"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a82ac164454b67542e3172d1971a15bd7">CDynamixel_Pan_Tilt::move_torque_tilt</a></div><div class="ttdeci">void move_torque_tilt(double &speed)</div><div class="ttdoc">Function to move the tilt servo on endless mode. If the value passed is out of range, it'll be changed to the value of the limit. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00521">dynamixel_pan_tilt.cpp:521</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a1f07aaa4ea74a6209a26af4c9f6da0d7"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a1f07aaa4ea74a6209a26af4c9f6da0d7">CDynamixel_Pan_Tilt::move_relative_angle_pan</a></div><div class="ttdeci">void move_relative_angle_pan(double &angle, double &speed)</div><div class="ttdoc">Function to move the pan servo a specific angle relative to the current position by a specific speed...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00470">dynamixel_pan_tilt.cpp:470</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a1fd325c2b9e515ff25bb139cc13df5ca"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a1fd325c2b9e515ff25bb139cc13df5ca">CDynamixel_Pan_Tilt::move_relative_angle_tilt</a></div><div class="ttdeci">void move_relative_angle_tilt(double &angle, double &speed)</div><div class="ttdoc">Function to move the tilt servo a specific angle relative to the current position by a specific speed...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00476">dynamixel_pan_tilt.cpp:476</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a0a17ec8df1a85377d9a43dd586dfb707"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">CDynamixel_Pan_Tilt::print_current_position</a></div><div class="ttdeci">void print_current_position(void)</div><div class="ttdoc">User firendly function to print the absolute position of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00992">dynamixel_pan_tilt.cpp:992</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_af3511d52e4ab75ecab88e1048be115e7"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">CDynamixel_Pan_Tilt::get_pid_control</a></div><div class="ttdeci">void get_pid_control(Dynamixel_pan_tilt_pid &pid)</div><div class="ttdoc">Function to get the PID values of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00849">dynamixel_pan_tilt.cpp:849</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_acb5001b7d7d4c84e478ac3f331e49dc6"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#acb5001b7d7d4c84e478ac3f331e49dc6">CDynamixel_Pan_Tilt::get_moving_state_pan</a></div><div class="ttdeci">void get_moving_state_pan(Torque_moving_state &tms)</div><div class="ttdoc">Function to get a value on pan's moving state. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00950">dynamixel_pan_tilt.cpp:950</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__data_html"><div class="ttname"><a href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a></div><div class="ttdoc">A general struct to save data. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00042">dynamixel_pan_tilt.h:42</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ad4b3a35c2e651908bd3f296667c111aa"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">CDynamixel_Pan_Tilt::stop</a></div><div class="ttdeci">void stop(void)</div><div class="ttdoc">Function to stop the current movement of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00623">dynamixel_pan_tilt.cpp:623</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__config_html"><div class="ttname"><a href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a></div><div class="ttdoc">A struct to save the configuration information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00067">dynamixel_pan_tilt.h:67</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a7a0e926f05793039514efca0e5d8b83f"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">CDynamixel_Pan_Tilt::get_position</a></div><div class="ttdeci">Dynamixel_pan_tilt_data get_position(void)</div><div class="ttdoc">Function to get the position of both servos in degrees. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00791">dynamixel_pan_tilt.cpp:791</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a95e6138ad6fd8db61a0da0d463abca8c"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a95e6138ad6fd8db61a0da0d463abca8c">CDynamixel_Pan_Tilt::actualice_config</a></div><div class="ttdeci">void actualice_config(void)</div><div class="ttdoc">Function to actualice the variable of configuration of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00647">dynamixel_pan_tilt.cpp:647</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__info_html"><div class="ttname"><a href="structDynamixel__pan__tilt__info.html">Dynamixel_pan_tilt_info</a></div><div class="ttdoc">A struct to save the Pan_Tilt information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00095">dynamixel_pan_tilt.h:95</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a9fc2e401160aa547dafde7727a8fd705"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">CDynamixel_Pan_Tilt::get_compliance_control</a></div><div class="ttdeci">void get_compliance_control(Dynamixel_pan_tilt_compliance &compliance)</div><div class="ttdoc">Function to get the compliance configuration of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00827">dynamixel_pan_tilt.cpp:827</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ad955d5429115e35405dcf998148fec31"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ad955d5429115e35405dcf998148fec31">CDynamixel_Pan_Tilt::~CDynamixel_Pan_Tilt</a></div><div class="ttdeci">virtual ~CDynamixel_Pan_Tilt()</div><div class="ttdoc">The destructor. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00087">dynamixel_pan_tilt.cpp:87</a></div></div>
-<div class="ttc" id="structTorque__pan__tilt__moving__state_html"><div class="ttname"><a href="structTorque__pan__tilt__moving__state.html">Torque_pan_tilt_moving_state</a></div><div class="ttdoc">A struct to save the torque moving state of the servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00181">dynamixel_pan_tilt.h:181</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a7c6ed83d34470119c13c140a47473f55"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a7c6ed83d34470119c13c140a47473f55">CDynamixel_Pan_Tilt::reset_torque_moving_state</a></div><div class="ttdeci">void reset_torque_moving_state(void)</div><div class="ttdoc">Function to set the both servos_state to stopped. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00921">dynamixel_pan_tilt.cpp:921</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a34ff2fa229a07dbd1554811a6a4461b1"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">CDynamixel_Pan_Tilt::set_moving_state_tilt</a></div><div class="ttdeci">void set_moving_state_tilt(Torque_moving_state tms)</div><div class="ttdoc">Function to set a value on tilt's moving state. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00943">dynamixel_pan_tilt.cpp:943</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a3110f9418cd6de0574355285de9fad40"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">CDynamixel_Pan_Tilt::get_pan_tilt_config</a></div><div class="ttdeci">void get_pan_tilt_config(Dynamixel_pan_tilt_config &config)</div><div class="ttdoc">Function to get the configuration of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00877">dynamixel_pan_tilt.cpp:877</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a355b9c2a831c51cb833031e4d28d3118"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a355b9c2a831c51cb833031e4d28d3118">CDynamixel_Pan_Tilt::get_checking_hysteresis_pan</a></div><div class="ttdeci">double get_checking_hysteresis_pan(double effort)</div><div class="ttdoc">Function to calculate the angle hysteresis depending on the desired effort for the pan servo...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00964">dynamixel_pan_tilt.cpp:964</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a30d96265819910c9b39b915963fbfed2"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a30d96265819910c9b39b915963fbfed2">CDynamixel_Pan_Tilt::actualice_info</a></div><div class="ttdeci">void actualice_info(void)</div><div class="ttdoc">Function to actualice the variable with the information of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00696">dynamixel_pan_tilt.cpp:696</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__pid_html"><div class="ttname"><a href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a></div><div class="ttdoc">A struct to save the pid control information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00138">dynamixel_pan_tilt.h:138</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_acc9effb2fbf30fd55cb70c4a629bc7d1"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">CDynamixel_Pan_Tilt::move_torque</a></div><div class="ttdeci">void move_torque(Dynamixel_pan_tilt_data &speed)</div><div class="ttdoc">Function to move the pan-tilt on endless mode for both servos. If some of the values passed are out o...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00482">dynamixel_pan_tilt.cpp:482</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a4c37ba8c5e67c76bf5faddb1d6ade76d"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">CDynamixel_Pan_Tilt::set_moving_state_pan</a></div><div class="ttdeci">void set_moving_state_pan(Torque_moving_state tms)</div><div class="ttdoc">Function to set a value on pan's moving state. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00936">dynamixel_pan_tilt.cpp:936</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_aa2a78fc58a8583d1567e0e61ae583559"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#aa2a78fc58a8583d1567e0e61ae583559">CDynamixel_Pan_Tilt::move_torque_pan</a></div><div class="ttdeci">void move_torque_pan(double &speed)</div><div class="ttdoc">Function to move the pan servo on endless mode. If the value passed is out of range, it'll be changed to the value of the limit. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00488">dynamixel_pan_tilt.cpp:488</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a75b9ee09cc17f0f89636ec9b0b505aa2"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a75b9ee09cc17f0f89636ec9b0b505aa2">CDynamixel_Pan_Tilt::set_compliance_control</a></div><div class="ttdeci">void set_compliance_control(Dynamixel_pan_tilt_compliance &compliance)</div><div class="ttdoc">Function to set the compliance configuration of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00833">dynamixel_pan_tilt.cpp:833</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ad1b9601a478923ae2edd418cc14b570f"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ad1b9601a478923ae2edd418cc14b570f">CDynamixel_Pan_Tilt::move_relative_angle</a></div><div class="ttdeci">void move_relative_angle(Dynamixel_pan_tilt_data &angle, Dynamixel_pan_tilt_data &speed)</div><div class="ttdoc">Function to move the pan-tilt a specific angle relative to the current position by a specific speed...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00464">dynamixel_pan_tilt.cpp:464</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a0fd919d8c6d339a4d3a8e6ba1f35727c"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a0fd919d8c6d339a4d3a8e6ba1f35727c">CDynamixel_Pan_Tilt::actualice_control_mode</a></div><div class="ttdeci">void actualice_control_mode(void)</div><div class="ttdoc">Function to actualice the variable of control mode of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00670">dynamixel_pan_tilt.cpp:670</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a12b2332f5fb1d9544b7c46ca0b7b68ff"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a12b2332f5fb1d9544b7c46ca0b7b68ff">CDynamixel_Pan_Tilt::set_pid_control</a></div><div class="ttdeci">void set_pid_control(Dynamixel_pan_tilt_pid &pid)</div><div class="ttdoc">Function to set the PID values of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00862">dynamixel_pan_tilt.cpp:862</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_aeb20364e3a07a4d2e447fdacf4c63846"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#aeb20364e3a07a4d2e447fdacf4c63846">CDynamixel_Pan_Tilt::get_pan_position</a></div><div class="ttdeci">double get_pan_position(void)</div><div class="ttdoc">Function to get the position of the pan servo in degrees. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00801">dynamixel_pan_tilt.cpp:801</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a7f5541fe7c89c9812e396179a67064fb"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a7f5541fe7c89c9812e396179a67064fb">CDynamixel_Pan_Tilt::get_tilt_position</a></div><div class="ttdeci">double get_tilt_position(void)</div><div class="ttdoc">Function to get the position of the tilt servo in degrees. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00814">dynamixel_pan_tilt.cpp:814</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a4579aab486bced3d8a19b5ff0b001847"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a4579aab486bced3d8a19b5ff0b001847">CDynamixel_Pan_Tilt::move_absolute_angle</a></div><div class="ttdeci">void move_absolute_angle(Dynamixel_pan_tilt_data &angle, Dynamixel_pan_tilt_data &speed)</div><div class="ttdoc">Function to move the pan-tilt to a specific position by a specific speed. If some of the values passe...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00374">dynamixel_pan_tilt.cpp:374</a></div></div>
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-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_af8ef151d78af2866bd9269bc32ffb747"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#af8ef151d78af2866bd9269bc32ffb747">CDynamixel_Pan_Tilt::actualice_parameters</a></div><div class="ttdeci">void actualice_parameters(void)</div><div class="ttdoc">Function to actualice all the variables with all the parameters of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00637">dynamixel_pan_tilt.cpp:637</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a53fdb60e41ee610f3f8810fb56563dfa"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a53fdb60e41ee610f3f8810fb56563dfa">CDynamixel_Pan_Tilt::checking_angle_limits</a></div><div class="ttdeci">static void * checking_angle_limits(void *arg)</div><div class="ttdoc">Function to be called for the thread in charge to check the angle limits on torque movement...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00553">dynamixel_pan_tilt.cpp:553</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a771a12ec9ca210a5f27f11994918da65"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a771a12ec9ca210a5f27f11994918da65">CDynamixel_Pan_Tilt::actualice_angle_limits</a></div><div class="ttdeci">void actualice_angle_limits(void)</div><div class="ttdoc">Function to actualice the variable of the angle limits of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00662">dynamixel_pan_tilt.cpp:662</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a9f6c1c1e15f715520f45f195ce8f6a97"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">CDynamixel_Pan_Tilt::print_pan_tilt_data</a></div><div class="ttdeci">void print_pan_tilt_data(Dynamixel_pan_tilt_data data)</div><div class="ttdoc">User friendly function to print any pan-tilt data. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00997">dynamixel_pan_tilt.cpp:997</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a312e7e5d4bd8ccbbb9807d4d1ce2f5b6"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a312e7e5d4bd8ccbbb9807d4d1ce2f5b6">CDynamixel_Pan_Tilt::move_absolute_angle_tilt</a></div><div class="ttdeci">void move_absolute_angle_tilt(double &angle, double &speed)</div><div class="ttdoc">Function to move the pan servo to a specific position by a specific speed. If some of the values pass...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00422">dynamixel_pan_tilt.cpp:422</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a9f3a9632ef385372a122dbc8560c3602"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a9f3a9632ef385372a122dbc8560c3602">CDynamixel_Pan_Tilt::actualice_pid_control</a></div><div class="ttdeci">void actualice_pid_control(void)</div><div class="ttdoc">Function to actualice the variable of pid control of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00683">dynamixel_pan_tilt.cpp:683</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_af4ecc2d80ee122db640a9377b164c7f9"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#af4ecc2d80ee122db640a9377b164c7f9">CDynamixel_Pan_Tilt::move_absolute_angle_pan</a></div><div class="ttdeci">void move_absolute_angle_pan(double &angle, double &speed)</div><div class="ttdoc">Function to move the pan servo to a specific position by a specific speed. If some of the values pass...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00380">dynamixel_pan_tilt.cpp:380</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ae592a3b88c267260b2f0bb844cbc31b2"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2">CDynamixel_Pan_Tilt::is_torque_moving</a></div><div class="ttdeci">void is_torque_moving(bool &b)</div><div class="ttdoc">Function that returns if any servo is moving on torque mode. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00929">dynamixel_pan_tilt.cpp:929</a></div></div>
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--- a/doc/html/functions.html
+++ /dev/null
@@ -1,242 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
-<html xmlns="http://www.w3.org/1999/xhtml">
-<head>
-<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
-<meta http-equiv="X-UA-Compatible" content="IE=9"/>
-<meta name="generator" content="Doxygen 1.8.8"/>
-<title>It's the driver for a panproject_nametilt plataform made with dynamixel servos: Data Fields</title>
-<link href="tabs.css" rel="stylesheet" type="text/css"/>
-<script type="text/javascript" src="jquery.js"></script>
-<script type="text/javascript" src="dynsections.js"></script>
-<link href="doxygen.css" rel="stylesheet" type="text/css" />
-</head>
-<body>
-<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
-<div id="titlearea">
-<table cellspacing="0" cellpadding="0">
- <tbody>
- <tr style="height: 56px;">
- <td style="padding-left: 0.5em;">
- <div id="projectname">It's the driver for a panproject_nametilt plataform made with dynamixel servos
- </div>
- </td>
- </tr>
- </tbody>
-</table>
-</div>
-<!-- end header part -->
-<!-- Generated by Doxygen 1.8.8 -->
- <div id="navrow1" class="tabs">
- <ul class="tablist">
- <li><a href="index.html"><span>Main Page</span></a></li>
- <li class="current"><a href="annotated.html"><span>Data Structures</span></a></li>
- <li><a href="files.html"><span>Files</span></a></li>
- <li><a href="examples.html"><span>Examples</span></a></li>
- </ul>
- </div>
- <div id="navrow2" class="tabs2">
- <ul class="tablist">
- <li><a href="annotated.html"><span>Data Structures</span></a></li>
- <li><a href="classes.html"><span>Data Structure Index</span></a></li>
- <li class="current"><a href="functions.html"><span>Data Fields</span></a></li>
- </ul>
- </div>
- <div id="navrow3" class="tabs2">
- <ul class="tablist">
- <li class="current"><a href="functions.html"><span>All</span></a></li>
- <li><a href="functions_func.html"><span>Functions</span></a></li>
- </ul>
- </div>
- <div id="navrow4" class="tabs3">
- <ul class="tablist">
- <li><a href="#index_a"><span>a</span></a></li>
- <li><a href="#index_c"><span>c</span></a></li>
- <li><a href="#index_d"><span>d</span></a></li>
- <li><a href="#index_g"><span>g</span></a></li>
- <li><a href="#index_i"><span>i</span></a></li>
- <li><a href="#index_l"><span>l</span></a></li>
- <li><a href="#index_m"><span>m</span></a></li>
- <li><a href="#index_p"><span>p</span></a></li>
- <li><a href="#index_r"><span>r</span></a></li>
- <li><a href="#index_s"><span>s</span></a></li>
- <li class="current"><a href="#index_~"><span>~</span></a></li>
- </ul>
- </div>
-</div><!-- top -->
-<div class="contents">
-<div class="textblock">Here is a list of all documented struct and union fields with links to the struct/union documentation for each field:</div>
-
-<h3><a class="anchor" id="index_a"></a>- a -</h3><ul>
-<li>actualice_angle_limits()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a771a12ec9ca210a5f27f11994918da65">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_compliance_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a9e2ba4cccc53f86d1eaf1d6be56aa33a">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_config()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a95e6138ad6fd8db61a0da0d463abca8c">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_control_mode()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a0fd919d8c6d339a4d3a8e6ba1f35727c">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_info()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a30d96265819910c9b39b915963fbfed2">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_parameters()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#af8ef151d78af2866bd9269bc32ffb747">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_pid_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a9f3a9632ef385372a122dbc8560c3602">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_c"></a>- c -</h3><ul>
-<li>CDynamixel_Pan_Tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a70eeda40cf79b86160f437e6f15b6c1e">CDynamixel_Pan_Tilt</a>
-</li>
-<li>checking_angle_limits()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a53fdb60e41ee610f3f8810fb56563dfa">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_d"></a>- d -</h3><ul>
-<li>default_parameters()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a807b976322abcbd06bec90c51ac7cfd9">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_g"></a>- g -</h3><ul>
-<li>get_checking_hysteresis_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a355b9c2a831c51cb833031e4d28d3118">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_checking_hysteresis_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#afdbc56d736257a36602ed7b7abee04b8">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_compliance_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_moving_state_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#acb5001b7d7d4c84e478ac3f331e49dc6">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_moving_state_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a63d0cb761dd51c259fa5fecba5635d0e">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_pan_position()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#aeb20364e3a07a4d2e447fdacf4c63846">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_pan_tilt_config()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_pan_tilt_info()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#ace6bf516ea8008e0b617e7aaa9229f83">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_pid_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_position()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_tilt_position()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a7f5541fe7c89c9812e396179a67064fb">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_i"></a>- i -</h3><ul>
-<li>is_torque_moving()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_l"></a>- l -</h3><ul>
-<li>load_config()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_m"></a>- m -</h3><ul>
-<li>move_absolute_angle()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a4579aab486bced3d8a19b5ff0b001847">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_absolute_angle_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#af4ecc2d80ee122db640a9377b164c7f9">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_absolute_angle_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a312e7e5d4bd8ccbbb9807d4d1ce2f5b6">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_relative_angle()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#ad1b9601a478923ae2edd418cc14b570f">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_relative_angle_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a1f07aaa4ea74a6209a26af4c9f6da0d7">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_relative_angle_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a1fd325c2b9e515ff25bb139cc13df5ca">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_torque()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_torque_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#aa2a78fc58a8583d1567e0e61ae583559">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_torque_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a82ac164454b67542e3172d1971a15bd7">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_p"></a>- p -</h3><ul>
-<li>print_current_position()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">CDynamixel_Pan_Tilt</a>
-</li>
-<li>print_pan_tilt_data()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_r"></a>- r -</h3><ul>
-<li>reset_torque_moving_state()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a7c6ed83d34470119c13c140a47473f55">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
-<li>set_compliance_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a75b9ee09cc17f0f89636ec9b0b505aa2">CDynamixel_Pan_Tilt</a>
-</li>
-<li>set_moving_state_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">CDynamixel_Pan_Tilt</a>
-</li>
-<li>set_moving_state_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">CDynamixel_Pan_Tilt</a>
-</li>
-<li>set_pid_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a12b2332f5fb1d9544b7c46ca0b7b68ff">CDynamixel_Pan_Tilt</a>
-</li>
-<li>stop()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_~"></a>- ~ -</h3><ul>
-<li>~CDynamixel_Pan_Tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#ad955d5429115e35405dcf998148fec31">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-</div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated on Thu Feb 25 2016 15:42:32 for It's the driver for a panproject_nametilt plataform made with dynamixel servos by  <a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/>
-</a> 1.8.8
-</small></address>
-</body>
-</html>
diff --git a/doc/html/functions_func.html b/doc/html/functions_func.html
deleted file mode 100644
index aeb6e49c8bbc553004a1eb5480eaa3ecc5fadf00..0000000000000000000000000000000000000000
--- a/doc/html/functions_func.html
+++ /dev/null
@@ -1,242 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
-<html xmlns="http://www.w3.org/1999/xhtml">
-<head>
-<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
-<meta http-equiv="X-UA-Compatible" content="IE=9"/>
-<meta name="generator" content="Doxygen 1.8.8"/>
-<title>It's the driver for a panproject_nametilt plataform made with dynamixel servos: Data Fields - Functions</title>
-<link href="tabs.css" rel="stylesheet" type="text/css"/>
-<script type="text/javascript" src="jquery.js"></script>
-<script type="text/javascript" src="dynsections.js"></script>
-<link href="doxygen.css" rel="stylesheet" type="text/css" />
-</head>
-<body>
-<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
-<div id="titlearea">
-<table cellspacing="0" cellpadding="0">
- <tbody>
- <tr style="height: 56px;">
- <td style="padding-left: 0.5em;">
- <div id="projectname">It's the driver for a panproject_nametilt plataform made with dynamixel servos
- </div>
- </td>
- </tr>
- </tbody>
-</table>
-</div>
-<!-- end header part -->
-<!-- Generated by Doxygen 1.8.8 -->
- <div id="navrow1" class="tabs">
- <ul class="tablist">
- <li><a href="index.html"><span>Main Page</span></a></li>
- <li class="current"><a href="annotated.html"><span>Data Structures</span></a></li>
- <li><a href="files.html"><span>Files</span></a></li>
- <li><a href="examples.html"><span>Examples</span></a></li>
- </ul>
- </div>
- <div id="navrow2" class="tabs2">
- <ul class="tablist">
- <li><a href="annotated.html"><span>Data Structures</span></a></li>
- <li><a href="classes.html"><span>Data Structure Index</span></a></li>
- <li class="current"><a href="functions.html"><span>Data Fields</span></a></li>
- </ul>
- </div>
- <div id="navrow3" class="tabs2">
- <ul class="tablist">
- <li><a href="functions.html"><span>All</span></a></li>
- <li class="current"><a href="functions_func.html"><span>Functions</span></a></li>
- </ul>
- </div>
- <div id="navrow4" class="tabs3">
- <ul class="tablist">
- <li><a href="#index_a"><span>a</span></a></li>
- <li><a href="#index_c"><span>c</span></a></li>
- <li><a href="#index_d"><span>d</span></a></li>
- <li><a href="#index_g"><span>g</span></a></li>
- <li><a href="#index_i"><span>i</span></a></li>
- <li><a href="#index_l"><span>l</span></a></li>
- <li><a href="#index_m"><span>m</span></a></li>
- <li><a href="#index_p"><span>p</span></a></li>
- <li><a href="#index_r"><span>r</span></a></li>
- <li><a href="#index_s"><span>s</span></a></li>
- <li class="current"><a href="#index_~"><span>~</span></a></li>
- </ul>
- </div>
-</div><!-- top -->
-<div class="contents">
- 
-
-<h3><a class="anchor" id="index_a"></a>- a -</h3><ul>
-<li>actualice_angle_limits()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a771a12ec9ca210a5f27f11994918da65">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_compliance_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a9e2ba4cccc53f86d1eaf1d6be56aa33a">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_config()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a95e6138ad6fd8db61a0da0d463abca8c">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_control_mode()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a0fd919d8c6d339a4d3a8e6ba1f35727c">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_info()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a30d96265819910c9b39b915963fbfed2">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_parameters()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#af8ef151d78af2866bd9269bc32ffb747">CDynamixel_Pan_Tilt</a>
-</li>
-<li>actualice_pid_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a9f3a9632ef385372a122dbc8560c3602">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_c"></a>- c -</h3><ul>
-<li>CDynamixel_Pan_Tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a70eeda40cf79b86160f437e6f15b6c1e">CDynamixel_Pan_Tilt</a>
-</li>
-<li>checking_angle_limits()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a53fdb60e41ee610f3f8810fb56563dfa">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_d"></a>- d -</h3><ul>
-<li>default_parameters()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a807b976322abcbd06bec90c51ac7cfd9">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_g"></a>- g -</h3><ul>
-<li>get_checking_hysteresis_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a355b9c2a831c51cb833031e4d28d3118">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_checking_hysteresis_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#afdbc56d736257a36602ed7b7abee04b8">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_compliance_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_moving_state_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#acb5001b7d7d4c84e478ac3f331e49dc6">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_moving_state_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a63d0cb761dd51c259fa5fecba5635d0e">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_pan_position()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#aeb20364e3a07a4d2e447fdacf4c63846">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_pan_tilt_config()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_pan_tilt_info()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#ace6bf516ea8008e0b617e7aaa9229f83">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_pid_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_position()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">CDynamixel_Pan_Tilt</a>
-</li>
-<li>get_tilt_position()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a7f5541fe7c89c9812e396179a67064fb">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_i"></a>- i -</h3><ul>
-<li>is_torque_moving()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#ae592a3b88c267260b2f0bb844cbc31b2">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_l"></a>- l -</h3><ul>
-<li>load_config()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_m"></a>- m -</h3><ul>
-<li>move_absolute_angle()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a4579aab486bced3d8a19b5ff0b001847">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_absolute_angle_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#af4ecc2d80ee122db640a9377b164c7f9">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_absolute_angle_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a312e7e5d4bd8ccbbb9807d4d1ce2f5b6">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_relative_angle()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#ad1b9601a478923ae2edd418cc14b570f">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_relative_angle_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a1f07aaa4ea74a6209a26af4c9f6da0d7">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_relative_angle_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a1fd325c2b9e515ff25bb139cc13df5ca">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_torque()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_torque_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#aa2a78fc58a8583d1567e0e61ae583559">CDynamixel_Pan_Tilt</a>
-</li>
-<li>move_torque_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a82ac164454b67542e3172d1971a15bd7">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_p"></a>- p -</h3><ul>
-<li>print_current_position()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">CDynamixel_Pan_Tilt</a>
-</li>
-<li>print_pan_tilt_data()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_r"></a>- r -</h3><ul>
-<li>reset_torque_moving_state()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a7c6ed83d34470119c13c140a47473f55">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
-<li>set_compliance_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a75b9ee09cc17f0f89636ec9b0b505aa2">CDynamixel_Pan_Tilt</a>
-</li>
-<li>set_moving_state_pan()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a4c37ba8c5e67c76bf5faddb1d6ade76d">CDynamixel_Pan_Tilt</a>
-</li>
-<li>set_moving_state_tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a34ff2fa229a07dbd1554811a6a4461b1">CDynamixel_Pan_Tilt</a>
-</li>
-<li>set_pid_control()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#a12b2332f5fb1d9544b7c46ca0b7b68ff">CDynamixel_Pan_Tilt</a>
-</li>
-<li>stop()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">CDynamixel_Pan_Tilt</a>
-</li>
-</ul>
-
-
-<h3><a class="anchor" id="index_~"></a>- ~ -</h3><ul>
-<li>~CDynamixel_Pan_Tilt()
-: <a class="el" href="classCDynamixel__Pan__Tilt.html#ad955d5429115e35405dcf998148fec31">CDynamixel_Pan_Tilt</a>
-</li>
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-<div class="header">
- <div class="headertitle">
-<div class="title">It's the driver for a Pan-Tilt plataform made with dynamixel servos </div> </div>
-</div><!--header-->
-<div class="contents">
-<div class="textblock"><h1><a class="anchor" id="Introduction"></a>
-Introduction</h1>
-<h2><a class="anchor" id="Pre-Requisites"></a>
-Pre-Requisites</h2>
-<p>This package requires of the following libraries and packages</p><ul>
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-<li><a href="http://www.doxygen.org">doxygen</a> and <a href="http://www.graphviz.org">graphviz</a> to generate the documentation.</li>
-<li>stdc++,</li>
-</ul>
-<p>Under linux all of these utilities are available in ready-to-use packages.</p>
-<p>Under MacOS most of the packages are available via <a href="http://www.finkproject.org/">fink</a>. <br />
-</p>
-<h2><a class="anchor" id="Compilation"></a>
-Compilation</h2>
-<p>Just download this package, uncompress it, and execute</p><ul>
-<li>cd build</li>
-<li>cmake ..</li>
-</ul>
-<p>to generate the makefile and then</p><ul>
-<li>make</li>
-</ul>
-<p>to obtain the shared library (in this case called <em>iriutils.so</em>) and also all the example programs.</p>
-<p>The <em>cmake</em> only need to be executed once (make will automatically call <em>cmake</em> if you modify one of the <em>CMakeList.txt</em> files).</p>
-<p>To generate this documentation type</p><ul>
-<li>make doc</li>
-</ul>
-<p>The files in the <em>build</em> directory are genetated by <em>cmake</em> and <em>make</em> and can be safely removed. After doing so you will need to call cmake manually again.</p>
-<h2><a class="anchor" id="Configuration"></a>
-Configuration</h2>
-<p>The default build mode is DEBUG. That is, objects and executables include debug information.</p>
-<p>The RELEASE build mode optimizes for speed. To build in this mode execute</p><ul>
-<li>cmake .. -DCMAKE_BUILD_TYPE=RELEASE</li>
-</ul>
-<p>The release mode will be kept until next time cmake is executed.</p>
-<h2><a class="anchor" id="Installation"></a>
-Installation</h2>
-<p>In order to be able to use the library, it it necessary to copy it into the system. To do that, execute </p><pre class="fragment">- make install
-.
-</pre><p>as root and the shared libraries will be copied to <em>/usr/local/lib/iriutils</em> directory and the header files will be copied to <em>/usr/local/include/iriutils</em> dierctory. At this point, the library may be used by any user.</p>
-<p>To remove the library from the system, exceute</p><ul>
-<li>make uninstall</li>
-</ul>
-<p>as root, and all the associated files will be removed from the system.</p>
-<h1><a class="anchor" id="Customization"></a>
-Customization</h1>
-<p>To build a new application using these library, first it is necessary to locate if the library has been installed or not using the following command </p><pre class="fragment">- FIND_PACKAGE(dynamixel_pan_tilt REQUIRED)
-</pre><p>In the case that the package is present, it is necessary to add the header files directory to the include directory path by using </p><pre class="fragment">- INCLUDE_DIRECTORIES(${dynamixel_pan_tilt_INCLUDE_DIR})
-</pre><p>Finally, it is also nevessary to link with the desired libraries by using the following command </p><pre class="fragment">- TARGET_LINK_LIBRARIES(<executable name> ${dynamixel_pan_tilt_LIBRARY})
-.
-</pre><h1><a class="anchor" id="License"></a>
-License</h1>
-<p>This package is licensed under a <a href="http://www.gnu.org/licenses/lgpl.html">LGPL 3.0 License</a>.</p>
-<h1><a class="anchor" id="Disclaimer"></a>
-Disclaimer</h1>
-<p>This is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or at your option) any later version.</p>
-<p>This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.</p>
-<p>You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <a href="http://www.gnu.org/licenses/">http://www.gnu.org/licenses/</a>. </p>
-</div></div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated on Thu Feb 25 2016 15:42:32 for It's the driver for a panproject_nametilt plataform made with dynamixel servos by  <a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/>
-</a> 1.8.8
-</small></address>
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diff --git a/doc/html/jquery.js b/doc/html/jquery.js
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-/*!
- * jQuery JavaScript Library v1.7.1
- * http://jquery.com/
- *
- * Copyright 2011, John Resig
- * Dual licensed under the MIT or GPL Version 2 licenses.
- * http://jquery.org/license
- *
- * Includes Sizzle.js
- * http://sizzlejs.com/
- * Copyright 2011, The Dojo Foundation
- * Released under the MIT, BSD, and GPL Licenses.
- *
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-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8h_source.html#l00158">158</a> of file <a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>.</p>
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-<tr class="separator:a594ccc7eda096e0e23ec1cd0c81b5636"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a80714674d78f6c039b38e13ab7da49fa"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a80714674d78f6c039b38e13ab7da49fa"></a>
-TDynamixel_config </td><td class="memItemRight" valign="bottom"><b>tilt</b></td></tr>
-<tr class="separator:a80714674d78f6c039b38e13ab7da49fa"><td class="memSeparator" colspan="2"> </td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>It has two members of type TDynamixel_config:</p><ul>
-<li>pan</li>
-<li>tilt</li>
-</ul>
-<p>The TDynamixel_config struct has the following members:</p><ul>
-<li>double max_angle</li>
-<li>double min_angle</li>
-<li>double max_temperature</li>
-<li>double max_voltage</li>
-<li>double min_voltage</li>
-<li>double max_torque</li>
-<li>unsigned short int punch </li>
-</ul>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#_a3">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8h_source.html#l00067">67</a> of file <a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>.</p>
-</div><hr/>The documentation for this struct was generated from the following file:<ul>
-<li>/home/alopez/dynamixel_pan_tilt/trunk/src/<a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a></li>
-</ul>
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-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated on Thu Feb 25 2016 15:42:32 for It's the driver for a panproject_nametilt plataform made with dynamixel servos by  <a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/>
-</a> 1.8.8
-</small></address>
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diff --git a/doc/html/structDynamixel__pan__tilt__data.html b/doc/html/structDynamixel__pan__tilt__data.html
deleted file mode 100644
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--- a/doc/html/structDynamixel__pan__tilt__data.html
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-<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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-<title>It's the driver for a panproject_nametilt plataform made with dynamixel servos: Dynamixel_pan_tilt_data Struct Reference</title>
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- <td style="padding-left: 0.5em;">
- <div id="projectname">It's the driver for a panproject_nametilt plataform made with dynamixel servos
- </div>
- </td>
- </tr>
- </tbody>
-</table>
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-<!-- end header part -->
-<!-- Generated by Doxygen 1.8.8 -->
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- <li class="current"><a href="annotated.html"><span>Data Structures</span></a></li>
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- <li><a href="examples.html"><span>Examples</span></a></li>
- </ul>
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- <div id="navrow2" class="tabs2">
- <ul class="tablist">
- <li><a href="annotated.html"><span>Data Structures</span></a></li>
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- <li><a href="functions.html"><span>Data Fields</span></a></li>
- </ul>
- </div>
-</div><!-- top -->
-<div class="header">
- <div class="summary">
-<a href="#pub-attribs">Data Fields</a> </div>
- <div class="headertitle">
-<div class="title">Dynamixel_pan_tilt_data Struct Reference</div> </div>
-</div><!--header-->
-<div class="contents">
-
-<p>A general struct to save data.
- <a href="structDynamixel__pan__tilt__data.html#details">More...</a></p>
-
-<p><code>#include <<a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>></code></p>
-<table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
-Data Fields</h2></td></tr>
-<tr class="memitem:a81a071b52e612a207c7798e642866612"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a81a071b52e612a207c7798e642866612"></a>
-double </td><td class="memItemRight" valign="bottom"><b>pan</b></td></tr>
-<tr class="separator:a81a071b52e612a207c7798e642866612"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a7cbd62c55d09b374753fe45695fbf695"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7cbd62c55d09b374753fe45695fbf695"></a>
-double </td><td class="memItemRight" valign="bottom"><b>tilt</b></td></tr>
-<tr class="separator:a7cbd62c55d09b374753fe45695fbf695"><td class="memSeparator" colspan="2"> </td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>It has two members of type double:</p><ul>
-<li>pan</li>
-<li>tilt </li>
-</ul>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#_a2">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8h_source.html#l00042">42</a> of file <a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>.</p>
-</div><hr/>The documentation for this struct was generated from the following file:<ul>
-<li>/home/alopez/dynamixel_pan_tilt/trunk/src/<a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a></li>
-</ul>
-</div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated on Thu Feb 25 2016 15:42:32 for It's the driver for a panproject_nametilt plataform made with dynamixel servos by  <a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/>
-</a> 1.8.8
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diff --git a/doc/html/structDynamixel__pan__tilt__info.html b/doc/html/structDynamixel__pan__tilt__info.html
deleted file mode 100644
index 24520c88fb338bdc4750540df98d0822d4f21101..0000000000000000000000000000000000000000
--- a/doc/html/structDynamixel__pan__tilt__info.html
+++ /dev/null
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-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
-<html xmlns="http://www.w3.org/1999/xhtml">
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-<title>It's the driver for a panproject_nametilt plataform made with dynamixel servos: Dynamixel_pan_tilt_info Struct Reference</title>
-<link href="tabs.css" rel="stylesheet" type="text/css"/>
-<script type="text/javascript" src="jquery.js"></script>
-<script type="text/javascript" src="dynsections.js"></script>
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-<div id="titlearea">
-<table cellspacing="0" cellpadding="0">
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- <tr style="height: 56px;">
- <td style="padding-left: 0.5em;">
- <div id="projectname">It's the driver for a panproject_nametilt plataform made with dynamixel servos
- </div>
- </td>
- </tr>
- </tbody>
-</table>
-</div>
-<!-- end header part -->
-<!-- Generated by Doxygen 1.8.8 -->
- <div id="navrow1" class="tabs">
- <ul class="tablist">
- <li><a href="index.html"><span>Main Page</span></a></li>
- <li class="current"><a href="annotated.html"><span>Data Structures</span></a></li>
- <li><a href="files.html"><span>Files</span></a></li>
- <li><a href="examples.html"><span>Examples</span></a></li>
- </ul>
- </div>
- <div id="navrow2" class="tabs2">
- <ul class="tablist">
- <li><a href="annotated.html"><span>Data Structures</span></a></li>
- <li><a href="classes.html"><span>Data Structure Index</span></a></li>
- <li><a href="functions.html"><span>Data Fields</span></a></li>
- </ul>
- </div>
-</div><!-- top -->
-<div class="header">
- <div class="summary">
-<a href="#pub-attribs">Data Fields</a> </div>
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-<div class="title">Dynamixel_pan_tilt_info Struct Reference</div> </div>
-</div><!--header-->
-<div class="contents">
-
-<p>A struct to save the Pan_Tilt information.
- <a href="structDynamixel__pan__tilt__info.html#details">More...</a></p>
-
-<p><code>#include <<a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>></code></p>
-<table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
-Data Fields</h2></td></tr>
-<tr class="memitem:ad5f44459abe64e5d7825579ff0182214"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad5f44459abe64e5d7825579ff0182214"></a>
-TDynamixel_info </td><td class="memItemRight" valign="bottom"><b>pan</b></td></tr>
-<tr class="separator:ad5f44459abe64e5d7825579ff0182214"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a29051a2d9bfe6edb2858d2851ed8385f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a29051a2d9bfe6edb2858d2851ed8385f"></a>
-TDynamixel_info </td><td class="memItemRight" valign="bottom"><b>tilt</b></td></tr>
-<tr class="separator:a29051a2d9bfe6edb2858d2851ed8385f"><td class="memSeparator" colspan="2"> </td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>It has two members of type TDynamixel_info:</p><ul>
-<li>pan</li>
-<li>tilt</li>
-</ul>
-<p>The TDynamixel_info struct has the following members:</p><ul>
-<li>std::string model</li>
-<li>unsigned char firmware_ver</li>
-<li>unsigned int gear_ratio</li>
-<li>unsigned int encoder_resolution</li>
-<li>bool pid_control</li>
-<li>double max_angle</li>
-<li>double center_angle</li>
-<li>double max_speed</li>
-<li>unsigned int baudrate</li>
-<li>unsigned char id </li>
-</ul>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#_a1">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8h_source.html#l00095">95</a> of file <a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>.</p>
-</div><hr/>The documentation for this struct was generated from the following file:<ul>
-<li>/home/alopez/dynamixel_pan_tilt/trunk/src/<a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a></li>
-</ul>
-</div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated on Thu Feb 25 2016 15:42:32 for It's the driver for a panproject_nametilt plataform made with dynamixel servos by  <a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/>
-</a> 1.8.8
-</small></address>
-</body>
-</html>
diff --git a/doc/html/structDynamixel__pan__tilt__pid.html b/doc/html/structDynamixel__pan__tilt__pid.html
deleted file mode 100644
index f21406e2dce6e36fc91c76f48b9fa361ff07661b..0000000000000000000000000000000000000000
--- a/doc/html/structDynamixel__pan__tilt__pid.html
+++ /dev/null
@@ -1,91 +0,0 @@
-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
-<html xmlns="http://www.w3.org/1999/xhtml">
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-<title>It's the driver for a panproject_nametilt plataform made with dynamixel servos: Dynamixel_pan_tilt_pid Struct Reference</title>
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-<script type="text/javascript" src="jquery.js"></script>
-<script type="text/javascript" src="dynsections.js"></script>
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-<div id="titlearea">
-<table cellspacing="0" cellpadding="0">
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- <td style="padding-left: 0.5em;">
- <div id="projectname">It's the driver for a panproject_nametilt plataform made with dynamixel servos
- </div>
- </td>
- </tr>
- </tbody>
-</table>
-</div>
-<!-- end header part -->
-<!-- Generated by Doxygen 1.8.8 -->
- <div id="navrow1" class="tabs">
- <ul class="tablist">
- <li><a href="index.html"><span>Main Page</span></a></li>
- <li class="current"><a href="annotated.html"><span>Data Structures</span></a></li>
- <li><a href="files.html"><span>Files</span></a></li>
- <li><a href="examples.html"><span>Examples</span></a></li>
- </ul>
- </div>
- <div id="navrow2" class="tabs2">
- <ul class="tablist">
- <li><a href="annotated.html"><span>Data Structures</span></a></li>
- <li><a href="classes.html"><span>Data Structure Index</span></a></li>
- <li><a href="functions.html"><span>Data Fields</span></a></li>
- </ul>
- </div>
-</div><!-- top -->
-<div class="header">
- <div class="summary">
-<a href="#pub-attribs">Data Fields</a> </div>
- <div class="headertitle">
-<div class="title">Dynamixel_pan_tilt_pid Struct Reference</div> </div>
-</div><!--header-->
-<div class="contents">
-
-<p>A struct to save the pid control information.
- <a href="structDynamixel__pan__tilt__pid.html#details">More...</a></p>
-
-<p><code>#include <<a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>></code></p>
-<table class="memberdecls">
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-TDynamixel_pid </td><td class="memItemRight" valign="bottom"><b>pan</b></td></tr>
-<tr class="separator:a2a5855194458cac10eea6c8ffb1a170d"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a2d36b9fa0d22a63a94eb0c0e01fd1bb2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2d36b9fa0d22a63a94eb0c0e01fd1bb2"></a>
-TDynamixel_pid </td><td class="memItemRight" valign="bottom"><b>tilt</b></td></tr>
-<tr class="separator:a2d36b9fa0d22a63a94eb0c0e01fd1bb2"><td class="memSeparator" colspan="2"> </td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>It has two members of type TDynamixel_pid:</p><ul>
-<li>pan</li>
-<li>tilt</li>
-</ul>
-<p>The TDynamixel_pid struct has the following members:</p><ul>
-<li>unsigned char kp</li>
-<li>unsigned char ki</li>
-<li>unsigned char kd </li>
-</ul>
-<dl><dt><b>Examples: </b></dt><dd><a class="el" href="test_dynamixel_pan_tilt_8cpp-example.html#_a5">test_dynamixel_pan_tilt.cpp</a>.</dd>
-</dl>
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8h_source.html#l00138">138</a> of file <a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>.</p>
-</div><hr/>The documentation for this struct was generated from the following file:<ul>
-<li>/home/alopez/dynamixel_pan_tilt/trunk/src/<a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a></li>
-</ul>
-</div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated on Thu Feb 25 2016 15:42:32 for It's the driver for a panproject_nametilt plataform made with dynamixel servos by  <a href="http://www.doxygen.org/index.html">
-<img class="footer" src="doxygen.png" alt="doxygen"/>
-</a> 1.8.8
-</small></address>
-</body>
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diff --git a/doc/html/structTorque__pan__tilt__moving__state.html b/doc/html/structTorque__pan__tilt__moving__state.html
deleted file mode 100644
index 465f51bb5d4809348ff5447ed5c23c9cf80f405b..0000000000000000000000000000000000000000
--- a/doc/html/structTorque__pan__tilt__moving__state.html
+++ /dev/null
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-<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
-<html xmlns="http://www.w3.org/1999/xhtml">
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-<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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-<title>It's the driver for a panproject_nametilt plataform made with dynamixel servos: Torque_pan_tilt_moving_state Struct Reference</title>
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-<script type="text/javascript" src="jquery.js"></script>
-<script type="text/javascript" src="dynsections.js"></script>
-<link href="doxygen.css" rel="stylesheet" type="text/css" />
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-<div id="titlearea">
-<table cellspacing="0" cellpadding="0">
- <tbody>
- <tr style="height: 56px;">
- <td style="padding-left: 0.5em;">
- <div id="projectname">It's the driver for a panproject_nametilt plataform made with dynamixel servos
- </div>
- </td>
- </tr>
- </tbody>
-</table>
-</div>
-<!-- end header part -->
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- <li><a href="index.html"><span>Main Page</span></a></li>
- <li class="current"><a href="annotated.html"><span>Data Structures</span></a></li>
- <li><a href="files.html"><span>Files</span></a></li>
- <li><a href="examples.html"><span>Examples</span></a></li>
- </ul>
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- <div id="navrow2" class="tabs2">
- <ul class="tablist">
- <li><a href="annotated.html"><span>Data Structures</span></a></li>
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-<div class="header">
- <div class="summary">
-<a href="#pub-attribs">Data Fields</a> </div>
- <div class="headertitle">
-<div class="title">Torque_pan_tilt_moving_state Struct Reference</div> </div>
-</div><!--header-->
-<div class="contents">
-
-<p>A struct to save the torque moving state of the servos.
- <a href="structTorque__pan__tilt__moving__state.html#details">More...</a></p>
-
-<p><code>#include <<a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>></code></p>
-<table class="memberdecls">
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-Torque_moving_state </td><td class="memItemRight" valign="bottom"><b>pan</b></td></tr>
-<tr class="separator:a9571b8f95c27163cb8d19cce9950e36b"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:a387e9221dccb1ec99702b6e9e71e566d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a387e9221dccb1ec99702b6e9e71e566d"></a>
-Torque_moving_state </td><td class="memItemRight" valign="bottom"><b>tilt</b></td></tr>
-<tr class="separator:a387e9221dccb1ec99702b6e9e71e566d"><td class="memSeparator" colspan="2"> </td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>It has two members of type Torque_moving_state:</p><ul>
-<li>pan</li>
-<li>tilt</li>
-</ul>
-<p>The Torque_moving_state enum has the following possible values:</p><ul>
-<li>positive_torque</li>
-<li>stopped</li>
-<li>negative_torque </li>
-</ul>
-
-<p>Definition at line <a class="el" href="dynamixel__pan__tilt_8h_source.html#l00181">181</a> of file <a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a>.</p>
-</div><hr/>The documentation for this struct was generated from the following file:<ul>
-<li>/home/alopez/dynamixel_pan_tilt/trunk/src/<a class="el" href="dynamixel__pan__tilt_8h_source.html">dynamixel_pan_tilt.h</a></li>
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-<div class="title">test_dynamixel_pan_tilt.cpp</div> </div>
-</div><!--header-->
-<div class="contents">
-<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// Copyright (C) 2016 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.</span></div>
-<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Author Alejandro Lopez Gestoso (alopez@iri.upc.edu)</span></div>
-<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// All rights reserved.</span></div>
-<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">//</span></div>
-<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// This file is part of iriutils</span></div>
-<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// iriutils is free software: you can redistribute it and/or modify</span></div>
-<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// it under the terms of the GNU Lesser General Public License as published by</span></div>
-<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// the Free Software Foundation, either version 3 of the License, or</span></div>
-<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// at your option) any later version.</span></div>
-<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">//</span></div>
-<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// This program is distributed in the hope that it will be useful,</span></div>
-<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
-<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span></div>
-<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">// GNU Lesser General Public License for more details.</span></div>
-<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">//</span></div>
-<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// You should have received a copy of the GNU Lesser General Public License</span></div>
-<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">// along with this program. If not, see <http://www.gnu.org/licenses/>.</span></div>
-<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> </div>
-<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "dynamixel_pan_tilt.h"</span></div>
-<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <iostream></span></div>
-<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include "dynamixelserver_ftdi.h"</span></div>
-<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <math.h></span></div>
-<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> </div>
-<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> std::string name=<span class="stringliteral">"PAN-TILT-AX-12+"</span>;</div>
-<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> std::string config_file=<span class="stringliteral">"../src/xml/dyn_pan_tilt_config_AX12plus.xml"</span>;</div>
-<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> std::string config_saving_file = <span class="stringliteral">"../src/xml/saving_config.xml"</span>;</div>
-<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div>
-<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[])</div>
-<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> {</div>
-<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  std::string serial=<span class="stringliteral">"AI027ZIZ"</span>; <span class="comment">//extracted from with 'dmesg' command: "SerialNumber: AI027ZIZ"</span></div>
-<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">int</span> baudrate = 1000000; <span class="comment">//57600 or 1000000</span></div>
-<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordtype">int</span> pan_id = 13; <span class="comment">//extracted from dynamixel library's test_dynamixel_server_no_scan</span></div>
-<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordtype">int</span> tilt_id = 11; <span class="comment">//extracted from dynamixel library's test_dynamixel_server_no_scan</span></div>
-<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
-<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  CDynamixelServerFTDI *dyn_server=CDynamixelServerFTDI::instance();</div>
-<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <a class="code" href="classCDynamixel__Pan__Tilt.html">CDynamixel_Pan_Tilt</a> *pan_tilt = NULL;</div>
-<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
-<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <a class="code" href="structDynamixel__pan__tilt__info.html">Dynamixel_pan_tilt_info</a> info;</div>
-<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> pos, desired_pos, desired_speed, desired_effort;</div>
-<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <a class="code" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a> config;</div>
-<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> compliance;</div>
-<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <a class="code" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> pid;</div>
-<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div>
-<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">try</span></div>
-<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  {</div>
-<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">if</span>(dyn_server->get_num_buses()>0)</div>
-<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  {</div>
-<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  dyn_server->config_bus(serial,baudrate);</div>
-<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  std::cout << <span class="stringliteral">"Bus configured"</span> << std::endl;</div>
-<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  pan_tilt = <span class="keyword">new</span> <a class="code" href="classCDynamixel__Pan__Tilt.html">CDynamixel_Pan_Tilt</a>(name, dyn_server, pan_id, tilt_id);</div>
-<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  std::cout << <span class="stringliteral">"Pan_tilt created"</span> << std::endl;</div>
-<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> </div>
-<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">load_config</a>(config_file);</div>
-<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  std::cout << <span class="stringliteral">"configuration loaded"</span> << std::endl;</div>
-<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div>
-<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  std::cout << <span class="stringliteral">"-------------------------PAN-------------------------"</span> << std::endl;</div>
-<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(config);</div>
-<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ace6bf516ea8008e0b617e7aaa9229f83">get_pan_tilt_info</a>(info);</div>
-<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  std::cout << <span class="stringliteral">"[INFO]: ID: "</span> << (int)info.pan.id << std::endl;</div>
-<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  std::cout << <span class="stringliteral">"[INFO]: Max Temperature: "</span> << config.pan.max_temperature << std::endl;</div>
-<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  std::cout << <span class="stringliteral">"[INFO]: Max Voltage: "</span> << config.pan.max_voltage << std::endl;</div>
-<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  std::cout << <span class="stringliteral">"[INFO]: Min Voltage: "</span> << config.pan.min_voltage << std::endl;</div>
-<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  std::cout << <span class="stringliteral">"[INFO]: Angle range: ("</span> << config.pan.min_angle << <span class="stringliteral">","</span> << config.pan.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  std::cout << <span class="stringliteral">"[INFO]: Punch: "</span> << std::dec << config.pan.punch << std::endl;</div>
-<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  if (info.pan.pid_control)</div>
-<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  {</div>
-<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  std::cout << <span class="stringliteral">"[INFO]: PID control capable"</span> << std::endl;</div>
-<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">get_pid_control</a>(pid);</div>
-<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  std::cout << <span class="stringliteral">"[INFO]: PID control: ("</span> << (int)pid.pan.p << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)pid.pan.i << <span class="stringliteral">","</span> << (int)pid.pan.d << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  }</div>
-<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  {</div>
-<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  std::cout << <span class="stringliteral">"[INFO]: Compliance control capable"</span> << std::endl;</div>
-<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">get_compliance_control</a>(compliance);</div>
-<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  std::cout << <span class="stringliteral">"[INFO]: Compliance margin: ("</span> << std::dec << (int)compliance.pan.cw_compliance_margin << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)compliance.pan.ccw_compliance_margin << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  std::cout << <span class="stringliteral">"[INFO]: Compliance slope: ("</span> << std::dec << (int)compliance.pan.cw_compliance_slope << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)compliance.pan.ccw_compliance_slope << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  }</div>
-<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> </div>
-<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  std::cout << <span class="stringliteral">"-------------------------TILT-------------------------"</span> << std::endl;</div>
-<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  std::cout << <span class="stringliteral">"[INFO]: ID: "</span> << (int)info.tilt.id << std::endl;</div>
-<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  std::cout << <span class="stringliteral">"[INFO]: Max Temperature: "</span> << config.tilt.max_temperature << std::endl;</div>
-<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  std::cout << <span class="stringliteral">"[INFO]: Max Voltage: "</span> << config.tilt.max_voltage << std::endl;</div>
-<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  std::cout << <span class="stringliteral">"[INFO]: Min Voltage: "</span> << config.tilt.min_voltage << std::endl;</div>
-<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  std::cout << <span class="stringliteral">"[INFO]: Angle range: ("</span> << config.tilt.min_angle << <span class="stringliteral">","</span> << config.tilt.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  std::cout << <span class="stringliteral">"[INFO]: Punch: "</span> << std::dec << config.tilt.punch << std::endl;</div>
-<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  if (info.tilt.pid_control)</div>
-<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  {</div>
-<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  std::cout << <span class="stringliteral">"[INFO]: PID control capable"</span> << std::endl;</div>
-<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">get_pid_control</a>(pid);</div>
-<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  std::cout << <span class="stringliteral">"[INFO]: PID control: ("</span> << (int)pid.tilt.p << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)pid.tilt.i << <span class="stringliteral">","</span> << (int)pid.tilt.d << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  }</div>
-<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  {</div>
-<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  std::cout << <span class="stringliteral">"[INFO]: Compliance control capable"</span> << std::endl;</div>
-<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">get_compliance_control</a>(compliance);</div>
-<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  std::cout << <span class="stringliteral">"[INFO]: Compliance margin: ("</span> << std::dec << (int)compliance.tilt.cw_compliance_margin << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)compliance.tilt.ccw_compliance_margin << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  std::cout << <span class="stringliteral">"[INFO]: Compliance slope: ("</span> << std::dec << (int)compliance.tilt.cw_compliance_slope << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)compliance.tilt.ccw_compliance_slope << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  }</div>
-<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> </div>
-<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  std::cout << std::endl << std::endl;</div>
-<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  std::cout << <span class="stringliteral">"--------------------------------------------------"</span> << std::endl;</div>
-<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  pos = pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>();</div>
-<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  std::cout << <span class="stringliteral">"Current position: ("</span> << pos.pan << <span class="stringliteral">" , "</span> << pos.tilt << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div>
-<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  sleep(1);</div>
-<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="comment">//pan_tilt->save_config(config_saving_file);</span></div>
-<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="comment">//*/</span></div>
-<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div>
-<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">get_compliance_control</a>(compliance);</div>
-<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordtype">double</span> max_angle_error = fabs(0.5*compliance.pan.cw_compliance_margin); <span class="comment">//max angle error permitted</span></div>
-<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="comment">//double max_angle_error = 0.7;</span></div>
-<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordtype">double</span> time_interval = 0.1; <span class="comment">//time in secs between checks</span></div>
-<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordtype">double</span> max_time_sec = 5.0; <span class="comment">//max time to wait until timeout</span></div>
-<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordtype">double</span> t;</div>
-<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordtype">double</span> uperiod = time_interval*1000000.0;</div>
-<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordtype">double</span> timeout = max_time_sec/time_interval;</div>
-<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordtype">double</span> torque_timeout = 45.0;</div>
-<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  desired_speed.pan = 354;</div>
-<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  desired_speed.tilt = 354;</div>
-<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div>
-<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  std::cout << std::endl << std::endl;</div>
-<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  std::cout << <span class="stringliteral">"------------------------MOVE ABSOLUTE--------------------------"</span> << std::endl;</div>
-<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div>
-<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  pos = pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>();</div>
-<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  desired_pos.pan = 0.0;</div>
-<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  desired_pos.tilt = 0.0;</div>
-<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  std::cout << <span class="stringliteral">"Desired position: "</span>;</div>
-<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_pos);</div>
-<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  std::cout << <span class="stringliteral">"Current position: "</span>;</div>
-<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a4579aab486bced3d8a19b5ff0b001847">move_absolute_angle</a>(desired_pos, desired_speed);</div>
-<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  std::cout << <span class="stringliteral">"Moving..."</span> << std::endl;</div>
-<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> </div>
-<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  t=0.0;</div>
-<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordflow">while</span>((fabs(pos.pan - desired_pos.pan) > max_angle_error || fabs(pos.tilt - desired_pos.tilt) > max_angle_error) && t<timeout)</div>
-<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  {</div>
-<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  pos = pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>();</div>
-<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  usleep(uperiod);</div>
-<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  t++;</div>
-<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  }</div>
-<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> </div>
-<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordflow">if</span>(t >= timeout)</div>
-<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  {</div>
-<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">stop</a>();</div>
-<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  std::cout << <span class="stringliteral">"Reached "</span> << max_time_sec << <span class="stringliteral">"sec timeout"</span><< std::endl;</div>
-<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  }</div>
-<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> </div>
-<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  std::cout << <span class="stringliteral">"Desired position: "</span>;</div>
-<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_pos);</div>
-<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  std::cout << <span class="stringliteral">"Reached position: "</span>;</div>
-<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  std::cout << <span class="stringliteral">"Error position: ("</span> << pos.pan - desired_pos.pan << <span class="stringliteral">" , "</span> << pos.tilt - desired_pos.tilt << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  std::cout << <span class="stringliteral">"Max Error: "</span> << max_angle_error << std::endl;</div>
-<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> </div>
-<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(config);</div>
-<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> </div>
-<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  std::cout << <span class="stringliteral">"[INFO]: Angle range PAN: ("</span> << config.pan.min_angle << <span class="stringliteral">","</span> << config.pan.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  std::cout << <span class="stringliteral">"[INFO]: Angle range TILT: ("</span> << config.tilt.min_angle << <span class="stringliteral">","</span> << config.tilt.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> </div>
-<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  std::cout << <span class="stringliteral">"Done"</span> << std::endl;</div>
-<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  sleep(1);</div>
-<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="comment">//*/</span></div>
-<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div>
-<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  std::cout << std::endl << std::endl;</div>
-<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  std::cout << <span class="stringliteral">"------------------------MOVE TORQUE--------------------------"</span> << std::endl;</div>
-<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> </div>
-<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  desired_effort.pan = -100;</div>
-<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  desired_effort.tilt = -100;</div>
-<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> </div>
-<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  std::cout << <span class="stringliteral">"Current angle: "</span>;</div>
-<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> </div>
-<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  std::cout << <span class="stringliteral">"Desired effort: "</span>;</div>
-<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_effort);</div>
-<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> </div>
-<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">move_torque</a>(desired_effort);</div>
-<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> </div>
-<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  std::cout << <span class="stringliteral">"Moving..."</span> << std::endl;</div>
-<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> </div>
-<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  std::cout << <span class="stringliteral">"Moving effort: "</span>;</div>
-<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_effort);</div>
-<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> </div>
-<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  t=0.0;</div>
-<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">while</span>(t<torque_timeout)</div>
-<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  {</div>
-<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="comment">//pos = pan_tilt->get_position();</span></div>
-<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="comment">//pan_tilt->print_current_position();</span></div>
-<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  usleep(uperiod);</div>
-<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  t++;</div>
-<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  }</div>
-<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> </div>
-<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">stop</a>();</div>
-<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> </div>
-<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  std::cout << <span class="stringliteral">"Reached position: "</span>;</div>
-<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> </div>
-<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(config);</div>
-<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> </div>
-<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  std::cout << <span class="stringliteral">"[INFO]: Angle range PAN: ("</span> << config.pan.min_angle << <span class="stringliteral">","</span> << config.pan.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  std::cout << <span class="stringliteral">"[INFO]: Angle range TILT: ("</span> << config.tilt.min_angle << <span class="stringliteral">","</span> << config.tilt.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  sleep(1);</div>
-<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="comment">//*/</span></div>
-<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> </div>
-<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  std::cout << std::endl << std::endl;</div>
-<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  std::cout << <span class="stringliteral">"------------------------MOVE RELATIVE--------------------------"</span> << std::endl;</div>
-<div class="line"><a name="l00324"></a><span class="lineno"> 324</span> </div>
-<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  desired_pos.pan = 800;</div>
-<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  desired_pos.tilt = 400;</div>
-<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  </div>
-<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  std::cout << <span class="stringliteral">"Current angle: "</span>;</div>
-<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> </div>
-<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ad1b9601a478923ae2edd418cc14b570f">move_relative_angle</a>(desired_pos,desired_speed);</div>
-<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> </div>
-<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  std::cout << <span class="stringliteral">"Desired angle: "</span>;</div>
-<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_pos);</div>
-<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> </div>
-<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  std::cout << <span class="stringliteral">"Moving..."</span> << std::endl;</div>
-<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> </div>
-<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  pos = pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>();</div>
-<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  </div>
-<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  t=0.0;</div>
-<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordflow">while</span>((fabs(pos.pan - desired_pos.pan) > max_angle_error || fabs(pos.tilt - desired_pos.tilt) > max_angle_error) && t<timeout)</div>
-<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  {</div>
-<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  pos = pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>();</div>
-<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  usleep(uperiod);</div>
-<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  t++;</div>
-<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  }</div>
-<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> </div>
-<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordflow">if</span>(t==timeout)</div>
-<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  {</div>
-<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">stop</a>();</div>
-<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  std::cout << <span class="stringliteral">"Reached "</span> << max_time_sec << <span class="stringliteral">"sec timeout"</span><< std::endl;</div>
-<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  }</div>
-<div class="line"><a name="l00354"></a><span class="lineno"> 354</span> </div>
-<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  std::cout << <span class="stringliteral">"Desired position: "</span>;</div>
-<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_pos);</div>
-<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  std::cout << <span class="stringliteral">"Reached position: "</span>;</div>
-<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  std::cout << <span class="stringliteral">"Error position: ("</span> << pos.pan - desired_pos.pan << <span class="stringliteral">" , "</span> << pos.tilt - desired_pos.tilt << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  std::cout << <span class="stringliteral">"Max Error: "</span> << max_angle_error << std::endl;</div>
-<div class="line"><a name="l00361"></a><span class="lineno"> 361</span> </div>
-<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(config);</div>
-<div class="line"><a name="l00363"></a><span class="lineno"> 363</span> </div>
-<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  std::cout << <span class="stringliteral">"[INFO]: Angle range PAN: ("</span> << config.pan.min_angle << <span class="stringliteral">","</span> << config.pan.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  std::cout << <span class="stringliteral">"[INFO]: Angle range TILT: ("</span> << config.tilt.min_angle << <span class="stringliteral">","</span> << config.tilt.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00366"></a><span class="lineno"> 366</span> </div>
-<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  std::cout << <span class="stringliteral">"Done"</span> << std::endl;</div>
-<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  sleep(1);</div>
-<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="comment">//*/</span></div>
-<div class="line"><a name="l00370"></a><span class="lineno"> 370</span> </div>
-<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  std::cout << std::endl << std::endl;</div>
-<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  std::cout << <span class="stringliteral">"------------------------MOVE TORQUE--------------------------"</span> << std::endl;</div>
-<div class="line"><a name="l00377"></a><span class="lineno"> 377</span> </div>
-<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  desired_effort.pan = -90;</div>
-<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  desired_effort.tilt = -90;</div>
-<div class="line"><a name="l00380"></a><span class="lineno"> 380</span> </div>
-<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  std::cout << <span class="stringliteral">"Current angle: "</span>;</div>
-<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"><a name="l00383"></a><span class="lineno"> 383</span> </div>
-<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  std::cout << <span class="stringliteral">"Desired effort: "</span>;</div>
-<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_effort);</div>
-<div class="line"><a name="l00386"></a><span class="lineno"> 386</span> </div>
-<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">move_torque</a>(desired_effort);</div>
-<div class="line"><a name="l00388"></a><span class="lineno"> 388</span> </div>
-<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  std::cout << <span class="stringliteral">"Moving..."</span> << std::endl;</div>
-<div class="line"><a name="l00390"></a><span class="lineno"> 390</span> </div>
-<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  std::cout << <span class="stringliteral">"Moving effort: "</span>;</div>
-<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_effort);</div>
-<div class="line"><a name="l00393"></a><span class="lineno"> 393</span> </div>
-<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  t=0.0;</div>
-<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordflow">while</span>(t<torque_timeout)</div>
-<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  {</div>
-<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  <span class="comment">//pos = pan_tilt->get_position();</span></div>
-<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="comment">//pan_tilt->print_current_position();</span></div>
-<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  usleep(uperiod);</div>
-<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  t++;</div>
-<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  }</div>
-<div class="line"><a name="l00402"></a><span class="lineno"> 402</span> </div>
-<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">stop</a>();</div>
-<div class="line"><a name="l00404"></a><span class="lineno"> 404</span> </div>
-<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  std::cout << <span class="stringliteral">"Reached position: "</span>;</div>
-<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"><a name="l00407"></a><span class="lineno"> 407</span> </div>
-<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(config);</div>
-<div class="line"><a name="l00409"></a><span class="lineno"> 409</span> </div>
-<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  std::cout << <span class="stringliteral">"[INFO]: Angle range PAN: ("</span> << config.pan.min_angle << <span class="stringliteral">","</span> << config.pan.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  std::cout << <span class="stringliteral">"[INFO]: Angle range TILT: ("</span> << config.tilt.min_angle << <span class="stringliteral">","</span> << config.tilt.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  sleep(1);</div>
-<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  <span class="comment">//*/</span></div>
-<div class="line"><a name="l00414"></a><span class="lineno"> 414</span> </div>
-<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  }</div>
-<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  {</div>
-<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  std::cout << <span class="stringliteral">"No buses!!! tip: sudo rmmod ftdi_sio"</span> << std::endl;</div>
-<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  }</div>
-<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  }</div>
-<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  <span class="keywordflow">catch</span>(CException &e)</div>
-<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  {</div>
-<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  std::cout << <span class="stringliteral">"[Genereal exception]: "</span> << e.what() << std::endl;</div>
-<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  }</div>
-<div class="line"><a name="l00425"></a><span class="lineno"> 425</span> </div>
-<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="keywordflow">if</span>(pan_tilt!=NULL)</div>
-<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  <span class="keyword">delete</span> pan_tilt;</div>
-<div class="line"><a name="l00428"></a><span class="lineno"> 428</span> </div>
-<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  <span class="keywordflow">return</span> 0; </div>
-<div class="line"><a name="l00430"></a><span class="lineno"> 430</span> }</div>
-<div class="line"><a name="l00431"></a><span class="lineno"> 431</span> </div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a0c1cf233030cb6e587a7747a9721894f"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">CDynamixel_Pan_Tilt::load_config</a></div><div class="ttdeci">void load_config(Dynamixel_pan_tilt_config &config)</div><div class="ttdoc">Function for the configuration of the pan-tilt. If some parameters are changed internally, it's actualiced on the config variable. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00127">dynamixel_pan_tilt.cpp:127</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ace6bf516ea8008e0b617e7aaa9229f83"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ace6bf516ea8008e0b617e7aaa9229f83">CDynamixel_Pan_Tilt::get_pan_tilt_info</a></div><div class="ttdeci">void get_pan_tilt_info(Dynamixel_pan_tilt_info &info)</div><div class="ttdoc">Function to get the information of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00896">dynamixel_pan_tilt.cpp:896</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__compliance_html"><div class="ttname"><a href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a></div><div class="ttdoc">A struct to save the compliance control information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00117">dynamixel_pan_tilt.h:117</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a0a17ec8df1a85377d9a43dd586dfb707"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">CDynamixel_Pan_Tilt::print_current_position</a></div><div class="ttdeci">void print_current_position(void)</div><div class="ttdoc">User firendly function to print the absolute position of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00992">dynamixel_pan_tilt.cpp:992</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_af3511d52e4ab75ecab88e1048be115e7"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">CDynamixel_Pan_Tilt::get_pid_control</a></div><div class="ttdeci">void get_pid_control(Dynamixel_pan_tilt_pid &pid)</div><div class="ttdoc">Function to get the PID values of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00849">dynamixel_pan_tilt.cpp:849</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__data_html"><div class="ttname"><a href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a></div><div class="ttdoc">A general struct to save data. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00042">dynamixel_pan_tilt.h:42</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ad4b3a35c2e651908bd3f296667c111aa"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">CDynamixel_Pan_Tilt::stop</a></div><div class="ttdeci">void stop(void)</div><div class="ttdoc">Function to stop the current movement of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00623">dynamixel_pan_tilt.cpp:623</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__config_html"><div class="ttname"><a href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a></div><div class="ttdoc">A struct to save the configuration information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00067">dynamixel_pan_tilt.h:67</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a7a0e926f05793039514efca0e5d8b83f"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">CDynamixel_Pan_Tilt::get_position</a></div><div class="ttdeci">Dynamixel_pan_tilt_data get_position(void)</div><div class="ttdoc">Function to get the position of both servos in degrees. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00791">dynamixel_pan_tilt.cpp:791</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__info_html"><div class="ttname"><a href="structDynamixel__pan__tilt__info.html">Dynamixel_pan_tilt_info</a></div><div class="ttdoc">A struct to save the Pan_Tilt information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00095">dynamixel_pan_tilt.h:95</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a9fc2e401160aa547dafde7727a8fd705"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">CDynamixel_Pan_Tilt::get_compliance_control</a></div><div class="ttdeci">void get_compliance_control(Dynamixel_pan_tilt_compliance &compliance)</div><div class="ttdoc">Function to get the compliance configuration of both servos. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00827">dynamixel_pan_tilt.cpp:827</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a3110f9418cd6de0574355285de9fad40"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">CDynamixel_Pan_Tilt::get_pan_tilt_config</a></div><div class="ttdeci">void get_pan_tilt_config(Dynamixel_pan_tilt_config &config)</div><div class="ttdoc">Function to get the configuration of the pan-tilt. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00877">dynamixel_pan_tilt.cpp:877</a></div></div>
-<div class="ttc" id="structDynamixel__pan__tilt__pid_html"><div class="ttname"><a href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a></div><div class="ttdoc">A struct to save the pid control information. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00138">dynamixel_pan_tilt.h:138</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_acc9effb2fbf30fd55cb70c4a629bc7d1"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">CDynamixel_Pan_Tilt::move_torque</a></div><div class="ttdeci">void move_torque(Dynamixel_pan_tilt_data &speed)</div><div class="ttdoc">Function to move the pan-tilt on endless mode for both servos. If some of the values passed are out o...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00482">dynamixel_pan_tilt.cpp:482</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_ad1b9601a478923ae2edd418cc14b570f"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#ad1b9601a478923ae2edd418cc14b570f">CDynamixel_Pan_Tilt::move_relative_angle</a></div><div class="ttdeci">void move_relative_angle(Dynamixel_pan_tilt_data &angle, Dynamixel_pan_tilt_data &speed)</div><div class="ttdoc">Function to move the pan-tilt a specific angle relative to the current position by a specific speed...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00464">dynamixel_pan_tilt.cpp:464</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a4579aab486bced3d8a19b5ff0b001847"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a4579aab486bced3d8a19b5ff0b001847">CDynamixel_Pan_Tilt::move_absolute_angle</a></div><div class="ttdeci">void move_absolute_angle(Dynamixel_pan_tilt_data &angle, Dynamixel_pan_tilt_data &speed)</div><div class="ttdoc">Function to move the pan-tilt to a specific position by a specific speed. If some of the values passe...</div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00374">dynamixel_pan_tilt.cpp:374</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html">CDynamixel_Pan_Tilt</a></div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8h_source.html#l00224">dynamixel_pan_tilt.h:224</a></div></div>
-<div class="ttc" id="classCDynamixel__Pan__Tilt_html_a9f6c1c1e15f715520f45f195ce8f6a97"><div class="ttname"><a href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">CDynamixel_Pan_Tilt::print_pan_tilt_data</a></div><div class="ttdeci">void print_pan_tilt_data(Dynamixel_pan_tilt_data data)</div><div class="ttdoc">User friendly function to print any pan-tilt data. </div><div class="ttdef"><b>Definition:</b> <a href="dynamixel__pan__tilt_8cpp_source.html#l00997">dynamixel_pan_tilt.cpp:997</a></div></div>
-</div><!-- fragment --></div><!-- contents -->
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deleted file mode 100644
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--- a/doc/html/test_dynamixel_pan_tilt_8cpp-example.html
+++ /dev/null
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- <div id="projectname">It's the driver for a panproject_nametilt plataform made with dynamixel servos
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-<div class="title">test_dynamixel_pan_tilt.cpp</div> </div>
-</div><!--header-->
-<div class="contents">
-<p><b>Description:</b> </p>
-<p>It's an example code where it's printed the configuration information of the Pan-Tilt and it's moved on all the possible ways.</p>
-<p><b>Expected</b> Output:</p>
-<pre class="fragment">* Bus configured
-* Pan_tilt created
-* configuration loaded
-* -------------------------PAN-------------------------
-* [INFO]: ID: 13
-* [INFO]: Max Temperature: 85
-* [INFO]: Max Voltage: 19
-* [INFO]: Min Voltage: 6
-* [INFO]: Angle range: (-95.1613,94.868)
-* [INFO]: Punch: 32
-* [INFO]: Compliance control capable
-* [INFO]: Compliance margin: (2,2)
-* [INFO]: Compliance slope: (64,64)
-* -------------------------TILT-------------------------
-* [INFO]: ID: 11
-* [INFO]: Max Temperature: 85
-* [INFO]: Max Voltage: 19
-* [INFO]: Min Voltage: 6
-* [INFO]: Angle range: (-95.1613,59.9707)
-* [INFO]: Punch: 32
-* [INFO]: Compliance control capable
-* [INFO]: Compliance margin: (2,2)
-* [INFO]: Compliance slope: (64,64)
-*
-*
-* --------------------------------------------------
-* Current position: (-97.5073 , -93.1085)
-*
-*
-* ------------------------MOVE ABSOLUTE--------------------------
-* Desired position: (0 , 0)
-* Current position: (-97.5073 , -93.1085)
-* Moving...
-* (-97.5073 , -93.1085)
-* (-80.7918 , -76.6862)
-* (-44.1349 , -39.4428)
-* (-6.59824 , -2.78592)
-* (2.19941 , 1.31965)
-* (-0.439883 , 0.146628)
-* Desired position: (0 , 0)
-* Reached position: (-0.439883 , 0.146628)
-* Error position: (-0.439883 , 0.146628)
-* Max Error: 1
-* [INFO]: Angle range PAN: (-95.1613,94.868)
-* [INFO]: Angle range TILT: (-95.1613,59.9707)
-* Done
-*
-*
-* ------------------------MOVE TORQUE--------------------------
-* Current angle: (-0.439883 , 0.146628)
-* Desired effort: (-100 , -100)
-* Moving...
-* Moving effort: (-100 , -100)
-* Reached position: (-95.7478 , -93.4018)
-* [INFO]: Angle range PAN: (-150,-150)
-* [INFO]: Angle range TILT: (-150,-150)
-*
-*
-* ------------------------MOVE RELATIVE--------------------------
-* Current angle: (-95.7478 , -93.4018)
-* Desired angle: (94.818 , 59.9207)
-* Moving...
-* (-81.9648 , -92.522)
-* (-46.4809 , -66.129)
-* (-8.65103 , -27.4194)
-* (23.607 , 8.06452)
-* (54.6921 , 39.7361)
-* (89.5894 , 60.5572)
-* (97.5073 , 60.2639)
-* (94.5748 , 59.9707)
-* Desired position: (94.818 , 59.9207)
-* Reached position: (94.5748 , 59.9707)
-* Error position: (-0.243255 , 0.05)
-* Max Error: 1
-* [INFO]: Angle range PAN: (-95.1613,94.868)
-* [INFO]: Angle range TILT: (-95.1613,59.9707)
-* Done
-*
-*
-* ------------------------MOVE TORQUE--------------------------
-* Current angle: (94.5748 , 59.9707)
-* Desired effort: (-90 , -90)
-* Moving...
-* Moving effort: (-90 , -90)
-* Reached position: (-96.0411 , -92.8152)
-* [INFO]: Angle range PAN: (-150,-150)
-* [INFO]: Angle range TILT: (-150,-150)
-* </pre><div class="fragment"><div class="line"><span class="comment">// Copyright (C) 2016 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.</span></div>
-<div class="line"><span class="comment">// Author Alejandro Lopez Gestoso (alopez@iri.upc.edu)</span></div>
-<div class="line"><span class="comment">// All rights reserved.</span></div>
-<div class="line"><span class="comment">//</span></div>
-<div class="line"><span class="comment">// This file is part of iriutils</span></div>
-<div class="line"><span class="comment">// iriutils is free software: you can redistribute it and/or modify</span></div>
-<div class="line"><span class="comment">// it under the terms of the GNU Lesser General Public License as published by</span></div>
-<div class="line"><span class="comment">// the Free Software Foundation, either version 3 of the License, or</span></div>
-<div class="line"><span class="comment">// at your option) any later version.</span></div>
-<div class="line"><span class="comment">//</span></div>
-<div class="line"><span class="comment">// This program is distributed in the hope that it will be useful,</span></div>
-<div class="line"><span class="comment">// but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
-<div class="line"><span class="comment">// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span></div>
-<div class="line"><span class="comment">// GNU Lesser General Public License for more details.</span></div>
-<div class="line"><span class="comment">//</span></div>
-<div class="line"><span class="comment">// You should have received a copy of the GNU Lesser General Public License</span></div>
-<div class="line"><span class="comment">// along with this program. If not, see <http://www.gnu.org/licenses/>.</span></div>
-<div class="line"></div>
-<div class="line"><span class="preprocessor">#include "dynamixel_pan_tilt.h"</span></div>
-<div class="line"><span class="preprocessor">#include <iostream></span></div>
-<div class="line"><span class="preprocessor">#include "dynamixelserver_ftdi.h"</span></div>
-<div class="line"><span class="preprocessor">#include <math.h></span></div>
-<div class="line"></div>
-<div class="line">std::string name=<span class="stringliteral">"PAN-TILT-AX-12+"</span>;</div>
-<div class="line">std::string config_file=<span class="stringliteral">"../src/xml/dyn_pan_tilt_config_AX12plus.xml"</span>;</div>
-<div class="line">std::string config_saving_file = <span class="stringliteral">"../src/xml/saving_config.xml"</span>;</div>
-<div class="line"></div>
-<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[])</div>
-<div class="line">{</div>
-<div class="line"> std::string serial=<span class="stringliteral">"AI027ZIZ"</span>; <span class="comment">//extracted from with 'dmesg' command: "SerialNumber: AI027ZIZ"</span></div>
-<div class="line"> <span class="keywordtype">int</span> baudrate = 1000000; <span class="comment">//57600 or 1000000</span></div>
-<div class="line"> <span class="keywordtype">int</span> pan_id = 13; <span class="comment">//extracted from dynamixel library's test_dynamixel_server_no_scan</span></div>
-<div class="line"> <span class="keywordtype">int</span> tilt_id = 11; <span class="comment">//extracted from dynamixel library's test_dynamixel_server_no_scan</span></div>
-<div class="line"> </div>
-<div class="line"> CDynamixelServerFTDI *dyn_server=CDynamixelServerFTDI::instance();</div>
-<div class="line"> <a name="_a0"></a><a class="code" href="classCDynamixel__Pan__Tilt.html">CDynamixel_Pan_Tilt</a> *pan_tilt = NULL;</div>
-<div class="line"> </div>
-<div class="line"> <a name="_a1"></a><a class="code" href="structDynamixel__pan__tilt__info.html">Dynamixel_pan_tilt_info</a> info;</div>
-<div class="line"> <a name="_a2"></a><a class="code" href="structDynamixel__pan__tilt__data.html">Dynamixel_pan_tilt_data</a> pos, desired_pos, desired_speed, desired_effort;</div>
-<div class="line"> <a name="_a3"></a><a class="code" href="structDynamixel__pan__tilt__config.html">Dynamixel_pan_tilt_config</a> config;</div>
-<div class="line"> <a name="_a4"></a><a class="code" href="structDynamixel__pan__tilt__compliance.html">Dynamixel_pan_tilt_compliance</a> compliance;</div>
-<div class="line"> <a name="_a5"></a><a class="code" href="structDynamixel__pan__tilt__pid.html">Dynamixel_pan_tilt_pid</a> pid;</div>
-<div class="line"></div>
-<div class="line"> <span class="keywordflow">try</span></div>
-<div class="line"> {</div>
-<div class="line"> <span class="keywordflow">if</span>(dyn_server->get_num_buses()>0)</div>
-<div class="line"> {</div>
-<div class="line"> dyn_server->config_bus(serial,baudrate);</div>
-<div class="line"> std::cout << <span class="stringliteral">"Bus configured"</span> << std::endl;</div>
-<div class="line"> pan_tilt = <span class="keyword">new</span> <a class="code" href="classCDynamixel__Pan__Tilt.html">CDynamixel_Pan_Tilt</a>(name, dyn_server, pan_id, tilt_id);</div>
-<div class="line"> std::cout << <span class="stringliteral">"Pan_tilt created"</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> pan_tilt-><a name="a6"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#a0c1cf233030cb6e587a7747a9721894f">load_config</a>(config_file);</div>
-<div class="line"> std::cout << <span class="stringliteral">"configuration loaded"</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"-------------------------PAN-------------------------"</span> << std::endl;</div>
-<div class="line"> pan_tilt-><a name="a7"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(config);</div>
-<div class="line"> pan_tilt-><a name="a8"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#ace6bf516ea8008e0b617e7aaa9229f83">get_pan_tilt_info</a>(info);</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: ID: "</span> << (int)info.<a name="a9"></a>pan.id << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Max Temperature: "</span> << config.<a name="a10"></a>pan.max_temperature << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Max Voltage: "</span> << config.pan.max_voltage << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Min Voltage: "</span> << config.pan.min_voltage << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Angle range: ("</span> << config.pan.min_angle << <span class="stringliteral">","</span> << config.pan.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Punch: "</span> << std::dec << config.pan.punch << std::endl;</div>
-<div class="line"> if (info.pan.pid_control)</div>
-<div class="line"> {</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: PID control capable"</span> << std::endl;</div>
-<div class="line"> pan_tilt-><a name="a11"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">get_pid_control</a>(pid);</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: PID control: ("</span> << (int)pid.<a name="a12"></a>pan.p << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)pid.pan.i << <span class="stringliteral">","</span> << (int)pid.pan.d << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> }</div>
-<div class="line"> <span class="keywordflow">else</span></div>
-<div class="line"> {</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Compliance control capable"</span> << std::endl;</div>
-<div class="line"> pan_tilt-><a name="a13"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">get_compliance_control</a>(compliance);</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Compliance margin: ("</span> << std::dec << (int)compliance.<a name="a14"></a>pan.cw_compliance_margin << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)compliance.pan.ccw_compliance_margin << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Compliance slope: ("</span> << std::dec << (int)compliance.pan.cw_compliance_slope << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)compliance.pan.ccw_compliance_slope << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> }</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"-------------------------TILT-------------------------"</span> << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: ID: "</span> << (int)info.<a name="a15"></a>tilt.id << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Max Temperature: "</span> << config.<a name="a16"></a>tilt.max_temperature << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Max Voltage: "</span> << config.tilt.max_voltage << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Min Voltage: "</span> << config.tilt.min_voltage << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Angle range: ("</span> << config.tilt.min_angle << <span class="stringliteral">","</span> << config.tilt.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Punch: "</span> << std::dec << config.tilt.punch << std::endl;</div>
-<div class="line"> if (info.tilt.pid_control)</div>
-<div class="line"> {</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: PID control capable"</span> << std::endl;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#af3511d52e4ab75ecab88e1048be115e7">get_pid_control</a>(pid);</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: PID control: ("</span> << (int)pid.<a name="a17"></a>tilt.p << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)pid.tilt.i << <span class="stringliteral">","</span> << (int)pid.tilt.d << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> }</div>
-<div class="line"> <span class="keywordflow">else</span></div>
-<div class="line"> {</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Compliance control capable"</span> << std::endl;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">get_compliance_control</a>(compliance);</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Compliance margin: ("</span> << std::dec << (int)compliance.<a name="a18"></a>tilt.cw_compliance_margin << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)compliance.tilt.ccw_compliance_margin << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Compliance slope: ("</span> << std::dec << (int)compliance.tilt.cw_compliance_slope << <span class="stringliteral">","</span> << (<span class="keywordtype">int</span>)compliance.tilt.ccw_compliance_slope << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> }</div>
-<div class="line"></div>
-<div class="line"> std::cout << std::endl << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"--------------------------------------------------"</span> << std::endl;</div>
-<div class="line"> pos = pan_tilt-><a name="a19"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>();</div>
-<div class="line"> std::cout << <span class="stringliteral">"Current position: ("</span> << pos.<a name="a20"></a>pan << <span class="stringliteral">" , "</span> << pos.<a name="a21"></a>tilt << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> sleep(1);</div>
-<div class="line"> <span class="comment">//pan_tilt->save_config(config_saving_file);</span></div>
-<div class="line"> <span class="comment">//*/</span></div>
-<div class="line"></div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9fc2e401160aa547dafde7727a8fd705">get_compliance_control</a>(compliance);</div>
-<div class="line"> <span class="keywordtype">double</span> max_angle_error = fabs(0.5*compliance.pan.cw_compliance_margin); <span class="comment">//max angle error permitted</span></div>
-<div class="line"> <span class="comment">//double max_angle_error = 0.7;</span></div>
-<div class="line"> <span class="keywordtype">double</span> time_interval = 0.1; <span class="comment">//time in secs between checks</span></div>
-<div class="line"> <span class="keywordtype">double</span> max_time_sec = 5.0; <span class="comment">//max time to wait until timeout</span></div>
-<div class="line"> <span class="keywordtype">double</span> t;</div>
-<div class="line"> <span class="keywordtype">double</span> uperiod = time_interval*1000000.0;</div>
-<div class="line"> <span class="keywordtype">double</span> timeout = max_time_sec/time_interval;</div>
-<div class="line"> <span class="keywordtype">double</span> torque_timeout = 45.0;</div>
-<div class="line"> desired_speed.pan = 354;</div>
-<div class="line"> desired_speed.tilt = 354;</div>
-<div class="line"></div>
-<div class="line"> std::cout << std::endl << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"------------------------MOVE ABSOLUTE--------------------------"</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> pos = pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>();</div>
-<div class="line"> desired_pos.pan = 0.0;</div>
-<div class="line"> desired_pos.tilt = 0.0;</div>
-<div class="line"> std::cout << <span class="stringliteral">"Desired position: "</span>;</div>
-<div class="line"> pan_tilt-><a name="a22"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_pos);</div>
-<div class="line"> std::cout << <span class="stringliteral">"Current position: "</span>;</div>
-<div class="line"> pan_tilt-><a name="a23"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"> pan_tilt-><a name="a24"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#a4579aab486bced3d8a19b5ff0b001847">move_absolute_angle</a>(desired_pos, desired_speed);</div>
-<div class="line"> std::cout << <span class="stringliteral">"Moving..."</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> t=0.0;</div>
-<div class="line"> <span class="keywordflow">while</span>((fabs(pos.pan - desired_pos.pan) > max_angle_error || fabs(pos.tilt - desired_pos.tilt) > max_angle_error) && t<timeout)</div>
-<div class="line"> {</div>
-<div class="line"> pos = pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>();</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"> usleep(uperiod);</div>
-<div class="line"> t++;</div>
-<div class="line"> }</div>
-<div class="line"></div>
-<div class="line"> <span class="keywordflow">if</span>(t >= timeout)</div>
-<div class="line"> {</div>
-<div class="line"> pan_tilt-><a name="a25"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">stop</a>();</div>
-<div class="line"> std::cout << <span class="stringliteral">"Reached "</span> << max_time_sec << <span class="stringliteral">"sec timeout"</span><< std::endl;</div>
-<div class="line"> }</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Desired position: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_pos);</div>
-<div class="line"> std::cout << <span class="stringliteral">"Reached position: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"> std::cout << <span class="stringliteral">"Error position: ("</span> << pos.pan - desired_pos.pan << <span class="stringliteral">" , "</span> << pos.tilt - desired_pos.tilt << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"Max Error: "</span> << max_angle_error << std::endl;</div>
-<div class="line"></div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(config);</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Angle range PAN: ("</span> << config.pan.min_angle << <span class="stringliteral">","</span> << config.pan.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Angle range TILT: ("</span> << config.tilt.min_angle << <span class="stringliteral">","</span> << config.tilt.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Done"</span> << std::endl;</div>
-<div class="line"> sleep(1);</div>
-<div class="line"> <span class="comment">//*/</span></div>
-<div class="line"></div>
-<div class="line"> std::cout << std::endl << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"------------------------MOVE TORQUE--------------------------"</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> desired_effort.pan = -100;</div>
-<div class="line"> desired_effort.tilt = -100;</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Current angle: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Desired effort: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_effort);</div>
-<div class="line"></div>
-<div class="line"> pan_tilt-><a name="a26"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">move_torque</a>(desired_effort);</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Moving..."</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Moving effort: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_effort);</div>
-<div class="line"></div>
-<div class="line"> t=0.0;</div>
-<div class="line"> <span class="keywordflow">while</span>(t<torque_timeout)</div>
-<div class="line"> {</div>
-<div class="line"> <span class="comment">//pos = pan_tilt->get_position();</span></div>
-<div class="line"> <span class="comment">//pan_tilt->print_current_position();</span></div>
-<div class="line"> usleep(uperiod);</div>
-<div class="line"> t++;</div>
-<div class="line"> }</div>
-<div class="line"></div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">stop</a>();</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Reached position: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"></div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(config);</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Angle range PAN: ("</span> << config.pan.min_angle << <span class="stringliteral">","</span> << config.pan.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Angle range TILT: ("</span> << config.tilt.min_angle << <span class="stringliteral">","</span> << config.tilt.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> sleep(1);</div>
-<div class="line"> <span class="comment">//*/</span></div>
-<div class="line"></div>
-<div class="line"> std::cout << std::endl << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"------------------------MOVE RELATIVE--------------------------"</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> desired_pos.pan = 800;</div>
-<div class="line"> desired_pos.tilt = 400;</div>
-<div class="line"> </div>
-<div class="line"> std::cout << <span class="stringliteral">"Current angle: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"></div>
-<div class="line"> pan_tilt-><a name="a27"></a><a class="code" href="classCDynamixel__Pan__Tilt.html#ad1b9601a478923ae2edd418cc14b570f">move_relative_angle</a>(desired_pos,desired_speed);</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Desired angle: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_pos);</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Moving..."</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> pos = pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>();</div>
-<div class="line"> </div>
-<div class="line"> t=0.0;</div>
-<div class="line"> <span class="keywordflow">while</span>((fabs(pos.pan - desired_pos.pan) > max_angle_error || fabs(pos.tilt - desired_pos.tilt) > max_angle_error) && t<timeout)</div>
-<div class="line"> {</div>
-<div class="line"> pos = pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a7a0e926f05793039514efca0e5d8b83f">get_position</a>();</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"> usleep(uperiod);</div>
-<div class="line"> t++;</div>
-<div class="line"> }</div>
-<div class="line"></div>
-<div class="line"> <span class="keywordflow">if</span>(t==timeout)</div>
-<div class="line"> {</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">stop</a>();</div>
-<div class="line"> std::cout << <span class="stringliteral">"Reached "</span> << max_time_sec << <span class="stringliteral">"sec timeout"</span><< std::endl;</div>
-<div class="line"> }</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Desired position: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_pos);</div>
-<div class="line"> std::cout << <span class="stringliteral">"Reached position: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"> std::cout << <span class="stringliteral">"Error position: ("</span> << pos.pan - desired_pos.pan << <span class="stringliteral">" , "</span> << pos.tilt - desired_pos.tilt << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"Max Error: "</span> << max_angle_error << std::endl;</div>
-<div class="line"></div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(config);</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Angle range PAN: ("</span> << config.pan.min_angle << <span class="stringliteral">","</span> << config.pan.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Angle range TILT: ("</span> << config.tilt.min_angle << <span class="stringliteral">","</span> << config.tilt.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Done"</span> << std::endl;</div>
-<div class="line"> sleep(1);</div>
-<div class="line"> <span class="comment">//*/</span></div>
-<div class="line"></div>
-<div class="line"> std::cout << std::endl << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"------------------------MOVE TORQUE--------------------------"</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> desired_effort.pan = -90;</div>
-<div class="line"> desired_effort.tilt = -90;</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Current angle: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Desired effort: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_effort);</div>
-<div class="line"></div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#acc9effb2fbf30fd55cb70c4a629bc7d1">move_torque</a>(desired_effort);</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Moving..."</span> << std::endl;</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Moving effort: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a9f6c1c1e15f715520f45f195ce8f6a97">print_pan_tilt_data</a>(desired_effort);</div>
-<div class="line"></div>
-<div class="line"> t=0.0;</div>
-<div class="line"> <span class="keywordflow">while</span>(t<torque_timeout)</div>
-<div class="line"> {</div>
-<div class="line"> <span class="comment">//pos = pan_tilt->get_position();</span></div>
-<div class="line"> <span class="comment">//pan_tilt->print_current_position();</span></div>
-<div class="line"> usleep(uperiod);</div>
-<div class="line"> t++;</div>
-<div class="line"> }</div>
-<div class="line"></div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#ad4b3a35c2e651908bd3f296667c111aa">stop</a>();</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"Reached position: "</span>;</div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a0a17ec8df1a85377d9a43dd586dfb707">print_current_position</a>();</div>
-<div class="line"></div>
-<div class="line"> pan_tilt-><a class="code" href="classCDynamixel__Pan__Tilt.html#a3110f9418cd6de0574355285de9fad40">get_pan_tilt_config</a>(config);</div>
-<div class="line"></div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Angle range PAN: ("</span> << config.pan.min_angle << <span class="stringliteral">","</span> << config.pan.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> std::cout << <span class="stringliteral">"[INFO]: Angle range TILT: ("</span> << config.tilt.min_angle << <span class="stringliteral">","</span> << config.tilt.max_angle << <span class="stringliteral">")"</span> << std::endl;</div>
-<div class="line"> sleep(1);</div>
-<div class="line"> <span class="comment">//*/</span></div>
-<div class="line"></div>
-<div class="line"> }</div>
-<div class="line"> <span class="keywordflow">else</span></div>
-<div class="line"> {</div>
-<div class="line"> std::cout << <span class="stringliteral">"No buses!!! tip: sudo rmmod ftdi_sio"</span> << std::endl;</div>
-<div class="line"> }</div>
-<div class="line"> }</div>
-<div class="line"> <span class="keywordflow">catch</span>(CException &e)</div>
-<div class="line"> {</div>
-<div class="line"> std::cout << <span class="stringliteral">"[Genereal exception]: "</span> << e.what() << std::endl;</div>
-<div class="line"> }</div>
-<div class="line"></div>
-<div class="line"> <span class="keywordflow">if</span>(pan_tilt!=NULL)</div>
-<div class="line"> <span class="keyword">delete</span> pan_tilt;</div>
-<div class="line"></div>
-<div class="line"> <span class="keywordflow">return</span> 0; </div>
-<div class="line">}</div>
-<div class="line"></div>
-</div><!-- fragment --> </div><!-- contents -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
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-<img class="footer" src="doxygen.png" alt="doxygen"/>
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