nxtdc.hh
#define PLAYER_POSITION1D_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:3480
#define PLAYER_BUMPER_REQ_GET_GEOM
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1916
Definition: nxtdc.hh:65
uint32_t bumpers_count
the number of valid bumper readings
Definition: player_interfaces.h:1925
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:620
Command: state (PLAYER_POSITION1D_CMD_VEL)
Definition: player_interfaces.h:3565
#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
#define PLAYER_POSITION1D_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:3507
#define PLAYER_POSITION1D_REQ_SPEED_PID
Request/reply subtype: set speed PID params.
Definition: player_interfaces.h:3498
uint32_t poses_count
The number of valid poses.
Definition: player_interfaces.h:788
player_bumper_define_t * bumper_def
geometry of each bumper
Definition: player_interfaces.h:1953
Data: state (PLAYER_POSITION1D_DATA_STATE)
Definition: player_interfaces.h:3537
Definition: nxtdc.hh:33
uint32_t poses_count
the number of ir samples returned by this robot
Definition: player_interfaces.h:2133
Definition: nxtdc.hh:102
#define PLAYER_POSITION1D_REQ_POSITION_PID
Request/reply subtype: set position PID params.
Definition: player_interfaces.h:3501
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:658
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:664
#define PLAYER_POSITION1D_CMD_VEL
Command subtype: velocity command.
Definition: player_interfaces.h:3513
#define PLAYER_IR_REQ_POSE
Request/reply subtype: get pose.
Definition: player_interfaces.h:2102
float vel
velocity [m/s] or [rad/s]
Definition: player_interfaces.h:3568
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_POWER_DATA_STATE
Data subtype: voltage.
Definition: player_interfaces.h:274
#define PLAYER_POWER_MASK_VOLTS
bit masks for the player_power_data_t mask field
Definition: player_interfaces.h:282
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
uint32_t robot
The "robot" or device collection in which the device resides.
Definition: player.h:151
double ReadTupleFloat(int section, const char *name, int index, double value)
Read a float (double) from a tuple field.
#define PLAYER_POSITION1D_REQ_RESET_ODOM
Request/reply subtype: reset odometry.
Definition: player_interfaces.h:3495
#define PLAYER_POSITION1D_REQ_POSITION_MODE
Request/reply subtype: position mode.
Definition: player_interfaces.h:3489
player_pose3d_t * poses
the pose of each IR detector on this robot
Definition: player_interfaces.h:2135
float radius
radius of curvature [m] - zero for straight lines
Definition: player_interfaces.h:1938
player_bbox3d_t size
Dimensions of the base (m, m, m).
Definition: player_interfaces.h:3597
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:3595
uint32_t bumper_def_count
The number of valid bumper definitions.
Definition: player_interfaces.h:1951
#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
#define PLAYER_POWER_REQ_SET_CHARGING_POLICY
Request subtype: set charging policy.
Definition: player_interfaces.h:277
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
#define PLAYER_POSITION1D_REQ_MOTOR_POWER
Request/reply subtype: motor power.
Definition: player_interfaces.h:3483
#define PLAYER_SONAR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:761
Definition: nxtdc.hh:116
Request/reply: Set linear speed profile parameters.
Definition: player_interfaces.h:3698
#define PLAYER_POSITION1D_STATUS_ENABLED
Status byte: enabled.
Definition: player_interfaces.h:3531
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
#define PLAYER_POSITION1D_REQ_SET_ODOM
Request/reply subtype: set odometry.
Definition: player_interfaces.h:3492
#define PLAYER_BUMPER_DATA_STATE
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1910
#define PLAYER_SONAR_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:755
Definition: nxtdc.hh:131
float pos
position [m] or [rad] depending on actuator type
Definition: player_interfaces.h:3540
Definition: nxtdc.hh:44
uint8_t * bumpers
array of bumper values
Definition: player_interfaces.h:1927
Definition: nxtdc.hh:51
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
#define PLAYER_POSITION1D_REQ_SPEED_PROF
Request/reply subtype: set speed profile params.
Definition: player_interfaces.h:3504
uint32_t ranges_count
The number of valid range readings.
Definition: player_interfaces.h:774
uint32_t ranges_count
number of samples
Definition: player_interfaces.h:2122
#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
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
float length
length of the sensor [m]
Definition: player_interfaces.h:1936
Definition: nxtdc.hh:110
float speed
max speed [m/s] or [rad/s]
Definition: player_interfaces.h:3701
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
#define PLAYER_POSITION1D_CMD_POS
Command subtype: position command.
Definition: player_interfaces.h:3516
Definition: mixed/nxt/src/chronos.hh:28
float vel
translational velocities [m/s] or [rad/s] depending on actuator type
Definition: player_interfaces.h:3542
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
#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
player_pose3d_t pose
the local pose of a single bumper
Definition: player_interfaces.h:1934