p2os.h
float position
The position to move to.
Definition: player_interfaces.h:3872
Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS)
Definition: player_interfaces.h:3878
#define PLAYER_LIMB_REQ_BRAKES
Request/reply: brakes.
Definition: player_interfaces.h:4054
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:667
#define PLAYER_BUMPER_REQ_GET_GEOM
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1916
player_bbox3d_t outer_size
Outside dimensions of gripper (m, m, m).
Definition: player_interfaces.h:438
#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 color
A descriptive color for the blob (useful for gui's).
Definition: player_interfaces.h:1074
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
float centre
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3834
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_LIMB_REQ_SPEED
Request/reply: speed.
Definition: player_interfaces.h:4060
#define PLAYER_LIMB_STATE_OOR
Target was out of reach.
Definition: player_interfaces.h:4024
player_actarray_actuatorgeom_t * actuators
The geometry information for each actuator in the array.
Definition: player_interfaces.h:3854
player_point_3d_t basePos
The base position of the end-effector in robot coordinates.
Definition: player_interfaces.h:4145
player_point_3d_t position
Position of the end effector.
Definition: player_interfaces.h:4103
A rectangular bounding box, used to define the size of an object.
Definition: player.h:254
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_ACTARRAY_CMD_SPEED
Idle state code.
Definition: player_interfaces.h:3754
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
Definition: p2os.h:225
#define PLAYER_PTZ_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:1208
#define PLAYER_ACTARRAY_CMD_MULTI_POS
Idle state code.
Definition: player_interfaces.h:3751
player_bumper_define_t * bumper_def
geometry of each bumper
Definition: player_interfaces.h:1953
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: p2os.cc:2218
float max
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3836
uint32_t bmax
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1135
float home
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3838
Definition: camera.h:110
position2d velocity mode config
Definition: player_interfaces.h:671
uint8_t num_beams
Number of breakbeams the gripper has.
Definition: player_interfaces.h:443
uint32_t bmin
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1133
uint32_t left
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1082
uint32_t positions_count
The number of actuators in the array.
Definition: player_interfaces.h:3881
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:658
Definition: cmvision.h:105
uint32_t compression
Image compression; PLAYER_CAMERA_COMPRESS_RAW indicates no compression.
Definition: player_interfaces.h:2966
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:664
uint32_t width
Image dimensions [pixels].
Definition: player_interfaces.h:2953
#define PLAYER_CAMERA_FORMAT_RGB888
Image format : 24-bit color (8 bits R, 8 bits G, 8 bits B).
Definition: player_interfaces.h:2942
#define PLAYER_LIMB_STATE_COLL
Target was blocked by collision.
Definition: player_interfaces.h:4026
uint8_t capacity
Capacity for storing objects - if 0, then the gripper can't store.
Definition: player_interfaces.h:445
int32_t joint
The joint/actuator to command.
Definition: player_interfaces.h:3870
player_bbox3d_t inner_size
Inside dimensions of gripper, i.e.
Definition: player_interfaces.h:441
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:166
Definition: p2os.h:169
uint32_t bottom
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1088
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
player_point_3d_t base_pos
The position of the base of the actarray.
Definition: player_interfaces.h:3857
Definition: cmvision.h:143
#define PLAYER_BLOBFINDER_DATA_BLOBS
Structure describing a single blob.
Definition: player_interfaces.h:1055
Definition: cmvision.h:122
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
Command: Set end effector pose (PLAYER_LIMB_CMD_SETPOSE)
Definition: player_interfaces.h:4086
double ReadTupleFloat(int section, const char *name, int index, double value)
Read a float (double) from a tuple field.
#define PLAYER_LIMB_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:4029
double ReadAngle(int section, const char *name, double value)
Read an angle (includes unit conversion).
Command: Joint position control (PLAYER_ACTARRAY_CMD_POS)
Definition: player_interfaces.h:3867
#define PLAYER_GRIPPER_CMD_STOP
Command: Stop (PLAYER_GRIPPER_CMD_STOP)
Definition: player_interfaces.h:383
uint32_t image_count
Size of image data as stored in image buffer (bytes)
Definition: player_interfaces.h:2968
Structure containing a single actuator's information.
Definition: player_interfaces.h:3788
#define PLAYER_ACTARRAY_REQ_POWER
Idle state code.
Definition: player_interfaces.h:3733
float * positions
The positions for each joint/actuator.
Definition: player_interfaces.h:3883
double ReadLength(int section, const char *name, double value)
Read a length (includes unit conversion, if any).
#define PLAYER_PTZ_REQ_GENERIC
Request/reply subtype: generic.
Definition: player_interfaces.h:1196
Configuration request: Set imager params.
Definition: player_interfaces.h:1153
QueuePointer InQueue
Queue for all incoming messages for this driver.
Definition: driver.h:285
float radius
radius of curvature [m] - zero for straight lines
Definition: player_interfaces.h:1938
float range
Range to the blob center [meters].
Definition: player_interfaces.h:1090
Definition: kinecalc.h:36
uint32_t bumper_def_count
The number of valid bumper definitions.
Definition: player_interfaces.h:1951
#define PLAYER_ACTARRAY_REQ_SPEED
Idle state code.
Definition: player_interfaces.h:3742
uint32_t area
The blob area [pixels].
Definition: player_interfaces.h:1076
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:112
uint8_t type
The type of the actuator - linear or rotary.
Definition: player_interfaces.h:3819
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, rad).
Definition: player_interfaces.h:658
#define PLAYER_ACTARRAY_TYPE_ROTARY
Rotary type code.
Definition: player_interfaces.h:3784
#define PLAYER_ACTARRAY_CMD_HOME
Idle state code.
Definition: player_interfaces.h:3760
player_point_3d_t axis
The axis of rotation for this actuator if it is rotary, or axis along which it moves if it is linear.
Definition: player_interfaces.h:3830
#define PLAYER_CAMERA_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:2922
uint32_t rmin
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1125
uint8_t * image
Compressed image data (byte-aligned, row major order).
Definition: player_interfaces.h:2972
Definition: p2os/robot_params.h:75
#define PLAYER_GRIPPER_CMD_OPEN
Command: Open (PLAYER_GRIPPER_CMD_OPEN)
Definition: player_interfaces.h:373
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
player_pose3d_t pose
Gripper pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:436
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
static bool MatchDeviceAddress(player_devaddr_t addr1, player_devaddr_t addr2)
Compare two addresses.
Definition: device.h:201
bool ReadBool(int section, const char *name, bool value)
Read a boolean value (one of: yes, no, true, false, 1, 0)
player_orientation_3d_t base_orientation
The orientation of the base of the actarray.
Definition: player_interfaces.h:3860
uint32_t value
driver-specific
Definition: player_interfaces.h:674
uint32_t * config
Buffer for command/reply.
Definition: player_interfaces.h:1292
uint32_t rmax
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1127
#define PLAYER_SONAR_REQ_POWER
Request/reply subtype: power.
Definition: player_interfaces.h:758
uint32_t gmax
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1131
#define PLAYER_MSGTYPE_RESP_NACK
A negative response message.
Definition: player.h:125
#define PLAYER_LIMB_CMD_HOME
Command: home (PLAYER_LIMB_CMD_HOME)
Definition: player_interfaces.h:4034
#define PLAYER_LIMB_CMD_STOP
Command: stop (PLAYER_LIMB_CMD_STOP)
Definition: player_interfaces.h:4039
player_point_3d_t approach
The approach vector of the end effector.
Definition: player_interfaces.h:4072
#define PLAYER_SONAR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:761
Command: Vector move the end effector (PLAYER_LIMB_CMD_VECMOVE)
Definition: player_interfaces.h:4110
uint32_t actuators_count
The number of actuators in the array.
Definition: player_interfaces.h:3852
Definition: kinecalc.h:29
int32_t joint
The joint/actuator to command - set to -1 to command all.
Definition: player_interfaces.h:3914
double ReadTupleAngle(int section, const char *name, int index, double value)
Read an angle form a tuple (includes units conversion)
#define PLAYER_LIMB_CMD_SETPOSE
Command subtype: set pose.
Definition: player_interfaces.h:4042
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
uint32_t top
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1086
Definition: kinecalc.h:44
#define PLAYER_ACTARRAY_TYPE_LINEAR
Linear type code.
Definition: player_interfaces.h:3782
Definition: p2os/robot_params.h:83
Definition: camera.h:128
#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
#define PLAYER_CAPABILITIES_REQ
Capability request message type.
Definition: player.h:397
#define PLAYER_POSITION2D_REQ_RESET_ODOM
Request/reply: Reset odometry.
Definition: player_interfaces.h:541
uint32_t format
Image format (must be compatible with depth).
Definition: player_interfaces.h:2959
#define PLAYER_ACTARRAY_CMD_POS
Idle state code.
Definition: player_interfaces.h:3748
#define PLAYER_BLOBFINDER_REQ_SET_COLOR
Structure describing a single blob.
Definition: player_interfaces.h:1058
#define PLAYER_AUDIO_CMD_SAMPLE_PLAY
Command subtype: sample_play_cmd, play a pre stored audio sample.
Definition: player_interfaces.h:1374
float config_speed
The configured speed setting of the actuator - different from current speed.
Definition: player_interfaces.h:3840
Definition: p2os.h:201
player_point_3d_t orientation
The orientation vector of the end effector (a vector in a predefined direction on the end effector,...
Definition: player_interfaces.h:4076
player_point_3d_t direction
Direction vector to move in.
Definition: player_interfaces.h:4113
player_point_3d_t position
The position of the end effector (in robot coordiantes).
Definition: player_interfaces.h:4070
player_orientation_3d_t orientation
The orientation of this actuator when it is in its rest position.
Definition: player_interfaces.h:3827
uint32_t config_count
Length of data in config buffer.
Definition: player_interfaces.h:1290
player_point_3d_t orientation
Orientation vector.
Definition: player_interfaces.h:4093
Command: Set end effector position (PLAYER_LIMB_CMD_SETPOSITION)
Definition: player_interfaces.h:4100
uint8_t state
Turn power off TRUE or FALSE.
Definition: player_interfaces.h:800
virtual int MainSetup()
Sets up the resources needed by the driver thread.
Definition: p2os.cc:698
#define PLAYER_LIMB_STATE_MOVING
Moving to target.
Definition: player_interfaces.h:4022
#define PLAYER_BLOBFINDER_REQ_GET_COLOR
Structure describing a single blob.
Definition: player_interfaces.h:1064
player_devaddr_t device_addr
Default device address (single-interface drivers)
Definition: driver.h:269
#define PLAYER_GRIPPER_CMD_CLOSE
Command: Close (PLAYER_GRIPPER_CMD_CLOSE)
Definition: player_interfaces.h:378
#define PLAYER_ACTARRAY_REQ_GET_GEOM
Idle state code.
Definition: player_interfaces.h:3739
Definition: cmvision.h:120
Definition: p2os/sip.h:46
#define PLAYER_POSITION2D_DATA_STATE
Data: state (PLAYER_POSITION2D_DATA_STATE)
Definition: player_interfaces.h:568
float min
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3832
player_pose3d_t * poses
Pose of each sonar, in robot cs.
Definition: player_interfaces.h:790
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition: p2os.cc:1327
virtual int Subscribe(player_devaddr_t id)
Subscribe to this driver.
Definition: p2os.cc:1388
#define PLAYER_LIMB_REQ_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:4057
#define PLAYER_AIO_DATA_STATE
Data: state (PLAYER_AIO_DATA_STATE)
Definition: player_interfaces.h:2046
player_point_3d_t position
Position of the end effector.
Definition: player_interfaces.h:4089
float length
length of the sensor [m]
Definition: player_interfaces.h:1936
#define PLAYER_POSITION2D_REQ_VELOCITY_MODE
Request/reply: Change velocity control.
Definition: player_interfaces.h:522
#define PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS
Structure describing a single blob.
Definition: player_interfaces.h:1061
Command: Joint home (PLAYER_ACTARRAY_CMD_HOME)
Definition: player_interfaces.h:3911
Request/reply: Set tracking color.
Definition: player_interfaces.h:1118
#define PLAYER_DIO_DATA_VALUES
Data: input values (PLAYER_DIO_DATA_VALUES)
Definition: player_interfaces.h:1984
virtual int Unsubscribe(player_devaddr_t id)
Unsubscribe from this driver.
Definition: p2os.cc:1412
Definition: p2os/packet.h:40
Definition: cmvision.h:89
uint32_t channel
For devices that can track multiple colors, indicate which color channel we are defining with this st...
Definition: player_interfaces.h:1123
#define PLAYER_GRIPPER_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:365
#define PLAYER_LIMB_REQ_POWER
Request/reply: power.
Definition: player_interfaces.h:4051
uint32_t gmin
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1129
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
uint32_t height
Image dimensions [pixels].
Definition: player_interfaces.h:2955
#define PLAYER_GRIPPER_REQ_GET_GEOM
Request subtype: get geometry.
Definition: player_interfaces.h:368
float length
The length of this actuator's link to the next actuator.
Definition: player_interfaces.h:3822
uint8_t hasbrakes
If the actuator has brakes or not.
Definition: player_interfaces.h:3842
void ParseSERAUX(unsigned char *buffer)
Parse a SERAUX SIP packet.
Definition: p2os/sip.cc:488
player_point_3d_t approach
Approach vector.
Definition: player_interfaces.h:4091
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
#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