erratic.h
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:667
virtual int Unsubscribe(player_devaddr_t id)
Unsubscribe from this driver.
Definition: erratic.cc:802
double velocity
forward velocity (m/s)
Definition: player_interfaces.h:640
virtual void Publish(player_devaddr_t addr, QueuePointer &queue, uint8_t type, uint8_t subtype, void *src=NULL, size_t deprecated=0, double *timestamp=NULL, bool copy=true)
Publish a message via one of this driver's interfaces.
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:620
#define PLAYER_IR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:2108
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:159
uint32_t poses_count
The number of valid poses.
Definition: player_interfaces.h:788
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
Definition: erratic.h:122
virtual int Subscribe(player_devaddr_t id)
Subscribe to this driver.
Definition: erratic.cc:773
uint32_t poses_count
the number of ir samples returned by this robot
Definition: player_interfaces.h:2133
position2d velocity mode config
Definition: player_interfaces.h:671
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: erratic.cc:1238
#define PLAYER_IR_REQ_POSE
Request/reply subtype: get pose.
Definition: player_interfaces.h:2102
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:166
const char * ReadString(int section, const char *name, const char *value)
Read a string value.
#define PLAYER_POSITION2D_REQ_MOTOR_POWER
Request/reply: Motor power.
Definition: player_interfaces.h:496
#define PLAYER_POWER_DATA_STATE
Data subtype: voltage.
Definition: player_interfaces.h:274
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
double ReadAngle(int section, const char *name, double value)
Read an angle (includes unit conversion).
double angle
relative turning angle (rad)
Definition: player_interfaces.h:642
double ReadLength(int section, const char *name, double value)
Read a length (includes unit conversion, if any).
player_pose3d_t * poses
the pose of each IR detector on this robot
Definition: player_interfaces.h:2135
QueuePointer InQueue
Queue for all incoming messages for this driver.
Definition: driver.h:285
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:112
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, rad).
Definition: player_interfaces.h:658
Definition: erratic.h:138
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
static bool MatchDeviceAddress(player_devaddr_t addr1, player_devaddr_t addr2)
Compare two addresses.
Definition: device.h:201
#define PLAYER_POSITION2D_CMD_VEL_HEAD
Command: vel/head (PLAYER_POSITION2D_CMD_VEL_HEAD)
Definition: player_interfaces.h:599
uint32_t value
driver-specific
Definition: player_interfaces.h:674
#define PLAYER_SONAR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:761
position2d command setting velocity and steering angle
Definition: player_interfaces.h:637
Definition: erratic/packet.h:41
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
player_pose2d_t pose
(x, y, yaw) [m, m, rad]
Definition: player_interfaces.h:689
#define PLAYER_SONAR_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:755
#define PLAYER_SONAR_DATA_GEOM
Data subtype: geometry.
Definition: player_interfaces.h:764
#define PLAYER_POSITION2D_REQ_RESET_ODOM
Request/reply: Reset odometry.
Definition: player_interfaces.h:541
#define PLAYER_PTZ_CMD_STATE
Command subtype: state.
Definition: player_interfaces.h:1214
#define PLAYER_POSITION2D_DATA_STATE
Data: state (PLAYER_POSITION2D_DATA_STATE)
Definition: player_interfaces.h:568
player_pose3d_t * poses
Pose of each sonar, in robot cs.
Definition: player_interfaces.h:790
#define PLAYER_AIO_DATA_STATE
Data: state (PLAYER_AIO_DATA_STATE)
Definition: player_interfaces.h:2046
#define PLAYER_POSITION2D_REQ_VELOCITY_MODE
Request/reply: Change velocity control.
Definition: player_interfaces.h:522
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:76
#define PLAYER_POSITION2D_REQ_SET_ODOM
Request/reply: Set odometry.
Definition: player_interfaces.h:535
Definition: erratic/motorpacket.h:37
#define PLAYER_POSITION2D_CMD_CAR
Command: carlike (PLAYER_POSITION2D_CMD_CAR)
Definition: player_interfaces.h:594