epuckCamera.hpp File Reference
#include "epuckInterface.hpp"
#include <stdexcept>
#include <string>
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Classes

class  EpuckCamera
 Class for to get images from e-puck camera. More...
 
class  EpuckCamera::camera_version_error
 
class  EpuckCamera::window_out_of_range
 
class  EpuckCamera::window_length_error
 

Detailed Description

Header file where are the EpuckCamera class, and the exception classes camera_version_error, window_out_of_range and window_length_error.

player_bbox2d_t fiducial_size
Dimensions of the fiducials in units of (m).
Definition: player_interfaces.h:1721
#define PLAYER_BUMPER_REQ_GET_GEOM
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1916
#define PLAYER_WARN1(msg, a)
Error message macros.
Definition: error.h:90
#define PLAYER_IMU_DATA_FULLSTATE
Data subtype: All IMU position/orientation data
Definition: player_interfaces.h:4691
uint32_t element_sizes_count
Number of individual elements that make up the device.
Definition: player_interfaces.h:5011
double cov[6]
The covariance matrix pose estimate (lower half, symmetric matrix) (cov(xx) in m$^2$,...
Definition: player_interfaces.h:2342
int32_t altitude
Altitude, in millimeters.
Definition: player_interfaces.h:1857
uint32_t bumpers_count
the number of valid bumper readings
Definition: player_interfaces.h:1925
uint32_t blobs_count
The number of blobs.
Definition: player_interfaces.h:1103
#define PLAYER_ACTARRAY_DATA_STATE
Idle state code.
Definition: player_interfaces.h:3769
Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS)
Definition: player_interfaces.h:1096
uint32_t data_count
Size of data as stored in buffer (bytes)
Definition: player_interfaces.h:3447
player_pose3d_t * element_poses
Pose of each individual element that makes up the device (in device CS).
Definition: player_interfaces.h:5009
uint8_t have_geom
If non-zero, the geometry data has been filled.
Definition: player_interfaces.h:5036
#define PLAYER_POWER_MASK_JOULES
Data subtype: voltage.
Definition: player_interfaces.h:284
uint8_t motor_state
power state
Definition: player_interfaces.h:3812
uint32_t color
A descriptive color for the blob (useful for gui's).
Definition: player_interfaces.h:1074
float gyro_z
The IMU's calibrated gyro value on Z-axis.
Definition: player_interfaces.h:4732
player_ranger_geom_t geom
The geometry of the device at the time the scan was acquired.
Definition: player_interfaces.h:5038
double proll
roll [rad]
Definition: player.h:237
#define PLAYER_MSG1(level, msg, a)
Error message macros.
Definition: error.h:106
double err_horz
Horizonal error [m].
Definition: player_interfaces.h:1876
uint32_t intensities_count
Number of intensity readings.
Definition: player_interfaces.h:5051
Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT)
Definition: player_interfaces.h:4745
float accel_z
The node's acceleration on Z-axis from an acceleration sensor.
Definition: player_interfaces.h:4392
#define PLAYER_LOG_REQ_SET_WRITE_STATE
Request/reply subtype: set write state.
Definition: player_interfaces.h:3228
uint32_t host
The "host" on which the device resides.
Definition: player.h:148
double sw
Width [m].
Definition: player.h:248
#define PLAYER_IR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:2108
double py
Y [m].
Definition: player.h:199
float magn_y
The IMU's calibrated magnetic value on Y-axis.
Definition: player_interfaces.h:4736
uint8_t type
Type of the user defined message.
Definition: player_interfaces.h:5500
#define PLAYER_LASER_DATA_SCAN
Data subtype: scan.
Definition: player_interfaces.h:845
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 num_sats
Number of satellites in view.
Definition: player_interfaces.h:1870
float pan
Pan [rad].
Definition: player_interfaces.h:1231
Request/reply: Rewind playback.
Definition: player_interfaces.h:3281
float temperature
The node's templerature measurement from a temperature sensor.
Definition: player_interfaces.h:4400
player_orientation_3d_t orientation
Orientation data as Euler angles.
Definition: player_interfaces.h:4767
#define PLAYER_POINTCLOUD3D_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:4849
uint32_t poses_count
The number of valid poses.
Definition: player_interfaces.h:788
uint32_t right
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1084
#define PLAYER_IMU_DATA_STATE
Data subtype: IMU position/orientation data.
Definition: player_interfaces.h:4679
player_fiducial_item_t * fiducials
List of detected fiducials.
Definition: player_interfaces.h:1705
float magn_x
The IMU's calibrated magnetic value on X-axis.
Definition: player_interfaces.h:4734
#define PLAYER_PTZ_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:1208
uint8_t * parameters
The comand info not previously included.
Definition: player_interfaces.h:5540
player_bumper_define_t * bumper_def
geometry of each bumper
Definition: player_interfaces.h:1953
uint32_t pending_count
The number of pending (unprocessed observations)
Definition: player_interfaces.h:2354
#define PLAYER_WIFI_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:2188
double px
X [m].
Definition: player.h:231
uint32_t valid
Status bits.
Definition: player_interfaces.h:296
Request/reply: Query geometry.
Definition: player_interfaces.h:2515
Data: ranges (PLAYER_SONAR_DATA_RANGES)
Definition: player_interfaces.h:771
#define PLAYER_LASER_DATA_SCANPOSE
Data subtype: pose-stamped scan.
Definition: player_interfaces.h:848
float tilt
Tilt [rad].
Definition: player_interfaces.h:1233
#define PLAYER_COOPOBJECT_DATA_HEALTH
Data subtypes
Definition: player_interfaces.h:5344
Data AND Request/reply: geometry.
Definition: player_interfaces.h:785
Data: intensity scan (PLAYER_RANGER_DATA_INTNS)
Definition: player_interfaces.h:5048
player_pose3d_t pose
Laser pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:948
uint32_t poses_count
the number of ir samples returned by this robot
Definition: player_interfaces.h:2133
player_pose2d_t mean
The mean value of the pose estimate (m, m, rad).
Definition: player_interfaces.h:2338
uint32_t height
The image dimensions.
Definition: player_interfaces.h:1101
double ReadTupleLength(int section, const char *name, int index, double value)
Read a length from a tuple (includes units conversion)
Data: calibrated IMU data (PLAYER_IMU_DATA_STATE)
Definition: player_interfaces.h:4709
Request/reply: change the data type to one of the predefined data structures.
Definition: player_interfaces.h:4794
Definition: scan.h:39
uint32_t left
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1082
uint32_t links_count
length of said list
Definition: player_interfaces.h:2250
Data AND Request/reply: bumper geometry.
Definition: player_interfaces.h:1948
double ppitch
pitch [rad]
Definition: player.h:211
player_ranger_data_intns_t data
The scan data.
Definition: player_interfaces.h:5063
Generic message header.
Definition: player.h:161
double pz
Z [m].
Definition: player.h:235
Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG)
Definition: player_interfaces.h:4978
float max_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:888
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:658
uint32_t compression
Image compression; PLAYER_CAMERA_COMPRESS_RAW indicates no compression.
Definition: player_interfaces.h:2966
uint8_t state
The current state of the actuator.
Definition: player_interfaces.h:3799
float q0
Orientation data as quaternions.
Definition: player_interfaces.h:4751
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:664
player_pose2d_t mean
The best (?) pose (mm, mm, arc-seconds).
Definition: player_interfaces.h:2395
uint32_t width
Image dimensions [pixels].
Definition: player_interfaces.h:2953
uint32_t quality
Quality of fix 0 = invalid, 1 = GPS fix, 2 = DGPS fix.
Definition: player_interfaces.h:1868
#define PLAYER_RANGER_DATA_INTNS
Data subtype: intensity scan.
Definition: player_interfaces.h:4950
Data: state (PLAYER_PTZ_DATA_STATE)
Definition: player_interfaces.h:1228
Data: state (PLAYER_POSITION3D_DATA_STATE)
Definition: player_interfaces.h:2476
#define PLAYER_IR_REQ_POSE
Request/reply subtype: get pose.
Definition: player_interfaces.h:2102
Data: Stamped range scan (PLAYER_RANGER_DATA_RANGESTAMPED)
Definition: player_interfaces.h:5031
#define PLAYER_CAMERA_FORMAT_RGB888
Image format : 24-bit color (8 bits R, 8 bits G, 8 bits B).
Definition: player_interfaces.h:2942
player_pose3d_t pos
(x, y, z, roll, pitch, yaw) position [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2479
player_pose3d_t vel
(x, y, z, roll, pitch, yaw) velocity [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2481
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:166
Data: scan (PLAYER_LASER_DATA_SCANANGLE)
Definition: player_interfaces.h:920
uint32_t bottom
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1088
Encapsulates a device (i.e., a driver bound to an interface)
Definition: device.h:74
const char * ReadString(int section, const char *name, const char *value)
Read a string value.
double px
X [m].
Definition: player.h:220
Request/reply: get pose.
Definition: player_interfaces.h:2130
#define PLAYER_POWER_MASK_VOLTS
bit masks for the player_power_data_t mask field
Definition: player_interfaces.h:282
#define PLAYER_POSITION3D_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:2432
float accel_x
The IMU's calibrated acceleration value on X-axis.
Definition: player_interfaces.h:4722
#define PLAYER_RANGER_REQ_GET_CONFIG
Request/reply subtype: get configuration.
Definition: player_interfaces.h:4971
Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS)
Definition: player_interfaces.h:2351
Data: Get cloud (PLAYER_POINTCLOUD3D_DATA_STATE) The basic 3dcloudpoint data packet.
Definition: player_interfaces.h:4874
float zoom
Field of view [rad].
Definition: player_interfaces.h:1235
uint32_t hypoths_count
The number of pose hypotheses.
Definition: player_interfaces.h:2358
#define PLAYER_IMU_REQ_RESET_ORIENTATION
Request/reply subtype: reset orientation.
Definition: player_interfaces.h:4697
double pyaw
yaw [rad]
Definition: player.h:241
uint8_t subtype
Message subtype; interface specific.
Definition: player.h:168
uint32_t robot
The "robot" or device collection in which the device resides.
Definition: player.h:151
player_ranger_config_t config
The sensor configuration at the time the scan was acquired.
Definition: player_interfaces.h:5071
double max_angle
End angle of scans [rad].
Definition: player_interfaces.h:4983
virtual void Main(void)=0
Main method for driver thread.
float speed
The speed of the actuator in m/s or rad/s depending on the type.
Definition: player_interfaces.h:3793
uint32_t parameters_count
Size of the request message parameters (in bytes)
Definition: player_interfaces.h:5519
double min_angle
Start angle of scans [rad].
Definition: player_interfaces.h:4981
#define PLAYER_RANGER_DATA_RANGE
Data subtype: range scan.
Definition: player_interfaces.h:4944
player_ranger_config_t config
The sensor configuration at the time the scan was acquired.
Definition: player_interfaces.h:5042
#define PLAYER_RANGER_DATA_INTNSSTAMPED
Data subtype: intensity scan with extra info.
Definition: player_interfaces.h:4953
uint32_t image_count
Size of image data as stored in image buffer (bytes)
Definition: player_interfaces.h:2968
player_pose3d_t vel
The complete velocity of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4780
int ReadInt(int section, const char *name, int value)
Read an integer value.
double speed
Speed over ground, in meters/second .
Definition: player_interfaces.h:1859
#define PLAYER_LOG_REQ_GET_STATE
Request/reply subtype: get state.
Definition: player_interfaces.h:3234
uint32_t y
The blob centroid [pixels].
Definition: player_interfaces.h:1080
#define PLAYER_POWER_MASK_WATTS
Data subtype: voltage.
Definition: player_interfaces.h:283
void * GetPayload()
Get pointer to payload.
Definition: message.h:188
player_pose2d_t pose
The global pose of the laser at the time the scan was acquired.
Definition: player_interfaces.h:914
#define PLAYER_OPAQUE_DATA_STATE
Data subtype: generic state.
Definition: player_interfaces.h:3429
Available interfaces are stored in an array of these, defined in interface_util.c.
Definition: interface_util.h:71
#define PLAYER_COOPOBJECT_DATA_ALARM
Data subtypes
Definition: player_interfaces.h:5353
player_pose3d_t upose
Uncertainty in the measured pose .
Definition: player_interfaces.h:1693
player_pose3d_t * poses
the pose of each IR detector on this robot
Definition: player_interfaces.h:2135
#define PLAYER_MSGTYPE_DATA
A data message.
Definition: player.h:95
double py
Y [m].
Definition: player.h:222
float radius
radius of curvature [m] - zero for straight lines
Definition: player_interfaces.h:1938
#define PLAYER_ERROR2(msg, a, b)
Error message macros.
Definition: error.h:83
player_localize_hypoth_t * hypoths
The array of the hypotheses.
Definition: player_interfaces.h:2360
Data: Euler orientation data (PLAYER_IMU_DATA_EULER)
Definition: player_interfaces.h:4761
float range
Range to the blob center [meters].
Definition: player_interfaces.h:1090
float max_range
Maximum range [m].
Definition: player_interfaces.h:923
uint8_t type
The type of log device, either PLAYER_LOG_TYPE_READ or PLAYER_LOG_TYPE_WRITE.
Definition: player_interfaces.h:3285
player_pose2d_t pose
The particle's pose (m,m,rad)
Definition: player_interfaces.h:2382
int32_t pos[8]
Current joystick position X, Y and Yaw (unscaled)
Definition: player_interfaces.h:3344
uint32_t bumper_def_count
The number of valid bumper definitions.
Definition: player_interfaces.h:1951
uint32_t area
The blob area [pixels].
Definition: player_interfaces.h:1076
float battery
The node's remaining battery voltage.
Definition: player_interfaces.h:4402
player_wsn_node_data_t data_packet
The WSN node's data packet.
Definition: player_interfaces.h:4417
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:112
double px
X [m].
Definition: player.h:197
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:5022
uint32_t data_count
Size of the undefined message (in bytes)
Definition: player_interfaces.h:5502
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, rad).
Definition: player_interfaces.h:658
Definition: scan.h:45
Request/reply: Set filename.
Definition: player_interfaces.h:3294
uint32_t filename_count
Length of filename.
Definition: player_interfaces.h:3297
#define PLAYER_WARN2(msg, a, b)
Error message macros.
Definition: error.h:91
double alpha
The weight coefficient for linear combination (alpha)
Definition: player_interfaces.h:2384
player_laser_data_t scan
The scan data.
Definition: player_interfaces.h:912
uint8_t request
Type of the request.
Definition: player_interfaces.h:5517
#define PLAYER_CAMERA_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:2922
float * ranges
ranges [m]
Definition: player_interfaces.h:2124
#define PLAYER_RFID_DATA_TAGS
Data subtype.
Definition: player_interfaces.h:4293
float acceleration
The acceleration of the actuator in m/s^2 or rad/s^2 depending on the type.
Definition: player_interfaces.h:3795
uint32_t particles_count
The number of particles included.
Definition: player_interfaces.h:2399
uint8_t * image
Compressed image data (byte-aligned, row major order).
Definition: player_interfaces.h:2972
float current
The current of the actuator in A.
Definition: player_interfaces.h:3797
player_bbox3d_t size
Size of the device [m, m, m].
Definition: player_interfaces.h:5005
#define PLAYER_LOG_TYPE_WRITE
Types of log device: write.
Definition: player_interfaces.h:3247
uint32_t id
A unique, increasing, ID for the scan.
Definition: player_interfaces.h:902
uint32_t id
Blob id.
Definition: player_interfaces.h:1071
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
float accel_z
The IMU's calibrated acceleration value on Z-axis.
Definition: player_interfaces.h:4726
float * ranges
Range readings [m].
Definition: player_interfaces.h:896
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
bool ReadBool(int section, const char *name, bool value)
Read a boolean value (one of: yes, no, true, false, 1, 0)
player_pose3d_t acc
The complete acceleration of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4782
Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE)
Definition: player_interfaces.h:4775
#define PLAYER_OPAQUE_CMD
Data subtype: generic state.
Definition: player_interfaces.h:3441
uint8_t have_geom
If non-zero, the geometry data has been filled.
Definition: player_interfaces.h:5065
int32_t longitude
Longitude in degrees / 1e7 (units are scaled such that the effective resolution is roughly 1cm).
Definition: player_interfaces.h:1854
double alpha
The weight coefficient for linear combination (alpha)
Definition: player_interfaces.h:2344
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1922
float magn_x
The node's magnetic measurement on X-axis from a magnetometer.
Definition: player_interfaces.h:4394
double ppitch
pitch [rad]
Definition: player.h:239
Data and Request/reply: Get geometry.
Definition: player_interfaces.h:5000
uint32_t vdop
Vertical dilution of position (VDOP), times 10.
Definition: player_interfaces.h:1874
double sh
Height [m].
Definition: player.h:261
float * angles
Angle readings [m].
Definition: player_interfaces.h:931
uint8_t state
State: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3257
float watts
estimated current energy consumption (negative values) or aquisition (positive values) [W].
Definition: player_interfaces.h:306
#define PLAYER_MSGTYPE_REQ
A request message.
Definition: player.h:106
#define PLAYER_FIDUCIAL_REQ_GET_GEOM
Info on a single detected fiducial.
Definition: player_interfaces.h:1666
Request/reply: Set write state.
Definition: player_interfaces.h:3254
float tiltspeed
Current tilt velocity [rad/s].
Definition: player_interfaces.h:1239
Data (PLAYER_COOPOBJECT_DATA_USERDEFINED)
Definition: player_interfaces.h:5496
Request/reply: Get geometry.
Definition: player_interfaces.h:1714
float light
The node's light measurement from a light sensor.
Definition: player_interfaces.h:4384
player_bbox3d_t size
Dimensions of the base (m, m, m).
Definition: player_interfaces.h:2520
#define PLAYER_LOCALIZE_DATA_HYPOTHS
Data subtype: pose hypotheses.
Definition: player_interfaces.h:2320
uint32_t parameters_count
Size of the data of the message (in bytes)
Definition: player_interfaces.h:5538
#define PLAYER_LASER_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:854
#define PLAYER_MSGTYPE_RESP_NACK
A negative response message.
Definition: player.h:125
double min_range
Minimum range [m].
Definition: player_interfaces.h:4988
double course
Course made good (heading if the robot moves along its longitudinal axis), in radians.
Definition: player_interfaces.h:1862
#define PLAYER_SONAR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:761
uint8_t * parameters
Request message parameters
Definition: player_interfaces.h:5521
double sl
Length [m].
Definition: player.h:259
Request/reply: Get geometry.
Definition: player_interfaces.h:945
Data: voltage (PLAYER_POWER_DATA_STATE)
Definition: player_interfaces.h:291
uint32_t value
driver-specific
Definition: player_interfaces.h:4809
#define PLAYER_COOPOBJECT_DATA_REQUEST
Data subtypes
Definition: player_interfaces.h:5359
uint32_t node_type
The type of WSN node.
Definition: player_interfaces.h:4411
float * ranges
The range readings [m].
Definition: player_interfaces.h:776
Data: range scan (PLAYER_RANGER_DATA_RANGE)
Definition: player_interfaces.h:5019
float mic
The node's accoustic measurement from a microphone.
Definition: player_interfaces.h:4386
float panspeed
Current pan velocity [rad/s].
Definition: player_interfaces.h:1237
double err_vert
Vertical error [m].
Definition: player_interfaces.h:1878
uint32_t buttons
Button states (bitmask)
Definition: player_interfaces.h:3348
double proll
roll [rad]
Definition: player.h:209
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:2518
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
float accel_x
The node's acceleration on X-axis from an acceleration sensor.
Definition: player_interfaces.h:4388
#define PLAYER_IMU_DATA_EULER
Data subtype: Euler orientation data
Definition: player_interfaces.h:4688
Data: state (PLAYER_CAMERA_DATA_STATE)
Definition: player_interfaces.h:2950
uint32_t element_poses_count
Number of individual elements that make up the device.
Definition: player_interfaces.h:5007
uint32_t top
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1086
Data: input values (PLAYER_DIO_DATA_VALUES)
Definition: player_interfaces.h:1994
Request/reply: Get particles.
Definition: player_interfaces.h:2392
int GetTupleCount(int section, const char *name)
Get the number of values in a tuple.
#define PLAYER_COOPOBJECT_DATA_COMMAND
Data subtypes
Definition: player_interfaces.h:5362
player_bbox3d_t size
Size of the detector.
Definition: player_interfaces.h:1719
uint8_t value
Data type setting: 1 for pose/orientation, 2 for calibrated (raw) data, 3 for quaternions,...
Definition: player_interfaces.h:4799
uint8_t have_config
If non-zero, the configuration data has been filled.
Definition: player_interfaces.h:5069
player_actarray_actuator_t * actuators
The actuator data.
Definition: player_interfaces.h:3810
#define PLAYER_BUMPER_DATA_STATE
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1910
uint8_t state
Logging/playback state: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3287
#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
Class for loading configuration file information.
Definition: configfile.h:196
Data: state (PLAYER_AIO_DATA_STATE)
Definition: player_interfaces.h:2053
#define PLAYER_COOPOBJECT_DATA_USERDEFINED
Data subtypes
Definition: player_interfaces.h:5356
double sw
Width [m].
Definition: player.h:257
int32_t charging
charge exchange status: if 1, the device is currently receiving charge from another energy device.
Definition: player_interfaces.h:311
#define PLAYER_LOCALIZE_REQ_GET_PARTICLES
Request/reply subtype: get particle set.
Definition: player_interfaces.h:2326
double pz
Z [m].
Definition: player.h:201
#define PLAYER_CAPABILITIES_REQ
Capability request message type.
Definition: player.h:397
A device address.
Definition: player.h:145
uint8_t * intensity
Intensity readings.
Definition: player_interfaces.h:935
An autopointer for the message queue.
Definition: message.h:73
double py
Y [m].
Definition: player.h:233
uint32_t data_count
Number of sensors included.
Definition: player_interfaces.h:5486
uint32_t fiducials_count
The number of detected fiducials.
Definition: player_interfaces.h:1703
uint8_t * bumpers
array of bumper values
Definition: player_interfaces.h:1927
uint32_t format
Image format (must be compatible with depth).
Definition: player_interfaces.h:2959
Data (PLAYER_COOPOBJECT_DATA_RSSI)
Definition: player_interfaces.h:5436
Data: state (PLAYER_GPS_DATA_STATE)
Definition: player_interfaces.h:1841
#define PLAYER_POSITION3D_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:2444
int32_t scale[8]
Scaling factors for X, Y and Yaw — not using these yet.
Definition: player_interfaces.h:3346
double * intensities
Intensity readings.
Definition: player_interfaces.h:5053
uint8_t origin
0 for fixed from base, 1 for mobile from base, 2 for mote-interface, 3 for Robot
Definition: player_interfaces.h:5426
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
uint32_t node_parent_id
The ID of the WSN node's parent (if existing).
Definition: player_interfaces.h:4415
Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN)
Definition: player_interfaces.h:1700
player_bbox3d_t * element_sizes
Size of each individual element that makes up the device.
Definition: player_interfaces.h:5013
#define PLAYER_RANGER_DATA_RANGESTAMPED
Data subtype: range scan with extra info.
Definition: player_interfaces.h:4947
float magn_z
The node's magnetic measurement on Z-axis from a magnetometer.
Definition: player_interfaces.h:4398
position2d data
Definition: player_interfaces.h:606
#define PLAYER_IMU_DATA_QUAT
Data subtype: Quaternions orientation data
Definition: player_interfaces.h:4685
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition: player_interfaces.h:4764
#define PLAYER_WSN_DATA_STATE
Data subtypes
Definition: player_interfaces.h:4364
player_wifi_link_t * links
A list of links.
Definition: player_interfaces.h:2252
#define PLAYER_ERROR1(msg, a)
Error message macros.
Definition: error.h:82
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4712
position2d geom
Definition: player_interfaces.h:655
#define PLAYER_POSITION3D_DATA_GEOMETRY
Data subtype: geometry.
Definition: player_interfaces.h:2435
uint32_t node_id
The ID of the WSN node.
Definition: player_interfaces.h:4413
uint8_t have_config
If non-zero, the configuration data has been filled.
Definition: player_interfaces.h:5040
#define PLAYER_POWER_MASK_CHARGING
Data subtype: voltage.
Definition: player_interfaces.h:286
uint32_t width
The image dimensions.
Definition: player_interfaces.h:1099
#define PLAYER_LASER_DATA_SCANANGLE
Data subtype: angle-stamped scan.
Definition: player_interfaces.h:851
#define PLAYER_COOPOBJECT_DATA_RSSI
Data subtypes
Definition: player_interfaces.h:5347
#define PLAYER_CAMERA_COMPRESS_RAW
Compression method: raw.
Definition: player_interfaces.h:2945
Data: state (PLAYER_JOYSTICK_DATA_STATE)
Definition: player_interfaces.h:3341
player_ranger_geom_t geom
The geometry of the device at the time the scan was acquired.
Definition: player_interfaces.h:5067
double range_res
Range resolution [m].
Definition: player_interfaces.h:4992
uint8_t command
Command.
Definition: player_interfaces.h:5535
Command: send command from robot to any or all WSN nodes or viceversa
Definition: player_interfaces.h:5530
#define PLAYER_ERROR(msg)
Error message macros.
Definition: error.h:81
#define PLAYER_BUMPER_DATA_GEOM
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1913
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:886
#define PLAYER_FIDUCIAL_DATA_SCAN
Info on a single detected fiducial.
Definition: player_interfaces.h:1663
Base class for drivers which oeprate with a thread.
Definition: driver.h:552
Data (PLAYER_COOPOBJECT_DATA_HEALTH)
Definition: player_interfaces.h:5423
uint32_t actuators_count
The number of actuators in the array.
Definition: player_interfaces.h:3808
uint32_t ranges_count
The number of valid range readings.
Definition: player_interfaces.h:774
float gyro_x
The IMU's calibrated gyro value on X-axis.
Definition: player_interfaces.h:4728
double pending_time
The time stamp of the last observation processed.
Definition: player_interfaces.h:2356
uint32_t ranges_count
number of samples
Definition: player_interfaces.h:2122
char filename[256]
Filename; max 255 chars + terminating NULL.
Definition: player_interfaces.h:3299
player_coopobject_sensor_t * data
The node sensors measurements.
Definition: player_interfaces.h:5488
double max_range
Maximum range [m].
Definition: player_interfaces.h:4990
player_localize_particle_t * particles
The particles.
Definition: player_interfaces.h:2401
float joules
energy stored [J].
Definition: player_interfaces.h:303
#define PLAYER_CAMERA_FORMAT_MONO8
Image format : 8-bit monochrome.
Definition: player_interfaces.h:2936
Data: state (PLAYER_WIFI_DATA_STATE)
Definition: player_interfaces.h:2247
#define PLAYER_POSITION2D_DATA_STATE
Data: state (PLAYER_POSITION2D_DATA_STATE)
Definition: player_interfaces.h:568
float max_range
Maximum range [m].
Definition: player_interfaces.h:892
player_blobfinder_blob_t * blobs
The list of blobs.
Definition: player_interfaces.h:1105
player_pose3d_t * poses
Pose of each sonar, in robot cs.
Definition: player_interfaces.h:790
double timestamp
Time associated with message contents (seconds since epoch)
Definition: player.h:170
float percent
Percent of full charge [%].
Definition: player_interfaces.h:301
Request/reply: Reset orientation.
Definition: player_interfaces.h:4806
double variance
The variance of the best (?) pose (mm^2)
Definition: player_interfaces.h:2397
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:925
Data (PLAYER_WSN_DATA_STATE)
Definition: player_interfaces.h:4408
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
float accel_y
The IMU's calibrated acceleration value on Y-axis.
Definition: player_interfaces.h:4724
#define PLAYER_AIO_DATA_STATE
Data: state (PLAYER_AIO_DATA_STATE)
Definition: player_interfaces.h:2046
player_pose3d_t pose
Fiducial pose relative to the detector.
Definition: player_interfaces.h:1691
double utm_e
UTM WGS84 coordinates, easting [m].
Definition: player_interfaces.h:1864
Data: ranges (PLAYER_IR_DATA_RANGES)
Definition: player_interfaces.h:2115
float magn_z
The IMU's calibrated magnetic value on Z-axis.
Definition: player_interfaces.h:4738
uint16_t id
The ID of the CO.
Definition: player_interfaces.h:5428
uint16_t parent_id
The ID of the CO parent (if existing).
Definition: player_interfaces.h:5430
double sl
Length [m].
Definition: player.h:250
float volts
Battery voltage [V].
Definition: player_interfaces.h:299
player_bbox3d_t size
Laser dimensions (m, m, m).
Definition: player_interfaces.h:950
Reference-counted message objects.
Definition: message.h:132
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition: player_interfaces.h:4748
float magn_y
The node's magnetic measurement on Y-axis from a magnetometer.
Definition: player_interfaces.h:4396
int32_t id
The fiducial id.
Definition: player_interfaces.h:1689
#define PLAYER_WARN(msg)
Warning message macros.
Definition: error.h:89
double * ranges
Range readings [m].
Definition: player_interfaces.h:5024
uint8_t type
The type of sensor (see above)
Definition: player_interfaces.h:5471
float length
length of the sensor [m]
Definition: player_interfaces.h:1936
uint32_t hdop
Horizontal dilution of position (HDOP), times 10.
Definition: player_interfaces.h:1872
#define PLAYER_IMU_DATA_CALIB
Data subtype: Calibrated IMU data
Definition: player_interfaces.h:4682
uint8_t stall
Are the motors stalled?
Definition: player_interfaces.h:2483
Structure describing a single RFID tag.
Definition: player_interfaces.h:4311
#define PLAYER_MSGTYPE_CMD
A command message.
Definition: player.h:99
double pyaw
yaw [rad]
Definition: player.h:213
data
Definition: player_interfaces.h:3444
double frequency
Scanning frequency [Hz].
Definition: player_interfaces.h:4994
int16_t value
Value of the sensor/alarm
Definition: player_interfaces.h:5473
float position
The position of the actuator in m or rad depending on the type.
Definition: player_interfaces.h:3791
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4778
#define PLAYER_DIO_DATA_VALUES
Data: input values (PLAYER_DIO_DATA_VALUES)
Definition: player_interfaces.h:1984
float gyro_y
The IMU's calibrated gyro value on Y-axis.
Definition: player_interfaces.h:4730
#define PLAYER_IMU_REQ_SET_DATATYPE
Request/reply subtype: set data type.
Definition: player_interfaces.h:4694
double pa
yaw [rad]
Definition: player.h:224
Base class for all drivers.
Definition: driver.h:108
int32_t latitude
Latitude in degrees / 1e7 (units are scaled such that the effective resolution is roughly 1cm).
Definition: player_interfaces.h:1850
#define PLAYER_LOG_REQ_SET_FILENAME
Request/reply subtype: set filename to write.
Definition: player_interfaces.h:3240
uint8_t * data
The node info not previously included.
Definition: player_interfaces.h:5504
uint32_t id
A unique, increasing, ID for the scan.
Definition: player_interfaces.h:937
uint32_t intensity_count
Number of intensity readings.
Definition: player_interfaces.h:898
uint32_t time_sec
GPS (UTC) time, in seconds and microseconds since the epoch.
Definition: player_interfaces.h:1844
#define PLAYER_POWER_MASK_PERCENT
Data subtype: voltage.
Definition: player_interfaces.h:285
Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB)
Definition: player_interfaces.h:4719
Request: send request from robot to any or all WSN nodes or viceversa
Definition: player_interfaces.h:5511
#define PLAYER_ERROR3(msg, a, b, c)
Error message macros.
Definition: error.h:84
Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE)
Definition: player_interfaces.h:909
#define PLAYER_MSG0(level, msg)
General messages.
Definition: error.h:105
uint16_t sender_id
The node RSSI measurements.
Definition: player_interfaces.h:5440
player_pose3d_t pose
Pose of the detector in the robot cs.
Definition: player_interfaces.h:1717
float accel_y
The node's acceleration on Y-axis from an acceleration sensor.
Definition: player_interfaces.h:4390
#define PLAYER_COOPOBJECT_DATA_SENSOR
Data subtypes
Definition: player_interfaces.h:5350
uint32_t x
The blob centroid [pixels].
Definition: player_interfaces.h:1078
Data (PLAYER_COOPOBJECT_DATA_SENSOR)
Definition: player_interfaces.h:5480
double utm_n
UTM WGS84 coordinates, northing [m].
Definition: player_interfaces.h:1866
uint8_t stall
Are the motors stalled?
Definition: player_interfaces.h:613
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
float resolution
Angular resolution [rad].
Definition: player_interfaces.h:890
uint32_t height
Image dimensions [pixels].
Definition: player_interfaces.h:2955
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:894
Data: state (PLAYER_ACTARRAY_DATA_STATE)
Definition: player_interfaces.h:3805
Data.
Definition: player_interfaces.h:4324
Data: scan (PLAYER_LASER_DATA_SCAN)
Definition: player_interfaces.h:883
player_msghdr_t * GetHeader()
Get pointer to header.
Definition: message.h:186
uint16_t index
Which device of that interface.
Definition: player.h:155
player_devaddr_t addr
Device to which this message pertains.
Definition: player.h:164
uint16_t interf
The interface provided by the device; must be one of PLAYER_*_CODE.
Definition: player.h:153
player_pose3d_t pose
Device centre pose in robot CS [m, m, m, rad, rad, rad].
Definition: player_interfaces.h:5003
float * ranges
Range readings [m].
Definition: player_interfaces.h:927
#define PLAYER_RANGER_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:4959
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:76
double angular_res
Scan resolution [rad].
Definition: player_interfaces.h:4985
player_pose3d_t pose
the local pose of a single bumper
Definition: player_interfaces.h:1934
Data: Stamped intensity scan (PLAYER_RANGER_DATA_INTNSSTAMPED)
Definition: player_interfaces.h:5060
uint8_t * data
The data we will be sending.
Definition: player_interfaces.h:3449
uint8_t * intensity
Intensity readings.
Definition: player_interfaces.h:900
#define PLAYER_CAMERA_COMPRESS_JPEG
Compression method: jpeg.
Definition: player_interfaces.h:2947
uint32_t bpp
Image bits-per-pixel (8, 16, 24, 32).
Definition: player_interfaces.h:2957
player_ranger_data_range_t data
The scan data.
Definition: player_interfaces.h:5034