wbr914.h
Definition: player_interfaces.h:3034
#define PLAYER_PLANNER_CMD_GOAL
Command subtype: set goal position.
Definition: player_interfaces.h:3124
#define PLAYER_DIO_CMD_VALUES
Data: input values (PLAYER_DIO_DATA_VALUES)
Definition: player_interfaces.h:1987
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:667
Data: This interface produces no data.
Definition: player_interfaces.h:4212
virtual int Unsubscribe(player_devaddr_t id)
Unsubscribe from this driver.
Definition: wbr914.cc:538
player_pose2d_t goal
Goal location (m,m,rad)
Definition: player_interfaces.h:3168
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
#define PLAYER_PLANNER_CMD_START
Command subtype: set start position.
Definition: player_interfaces.h:3127
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
uint32_t waypoints_count
Number of waypoints in the plan.
Definition: player_interfaces.h:3159
#define PLAYER_LASER_DATA_SCANPOSE
Data subtype: pose-stamped scan.
Definition: player_interfaces.h:848
uint8_t state
state: TRUE to enable, FALSE to disable
Definition: player_interfaces.h:3194
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: wbr914.cc:674
double ReadTupleLength(int section, const char *name, int index, double value)
Read a length from a tuple (includes units conversion)
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:658
#define PLAYER_PLANNER_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:3121
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:664
#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
player_pose2d_t goal
Goal location (m,m,rad)
Definition: player_interfaces.h:3151
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
uint32_t height
The size of the map [pixels].
Definition: player_interfaces.h:3041
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:633
double ReadTupleFloat(int section, const char *name, int index, double value)
Read a float (double) from a tuple field.
double ReadAngle(int section, const char *name, double value)
Read an angle (includes unit conversion).
const char * ReadFilename(int section, const char *name, const char *value)
Read a filename.
Request/reply: Enable/disable robot motion.
Definition: player_interfaces.h:3191
player_color_t color
Color in which the line should be drawn.
Definition: player_interfaces.h:4232
double ReadLength(int section, const char *name, double value)
Read a length (includes unit conversion, if any).
player_pose2d_t pose
The global pose of the laser at the time the scan was acquired.
Definition: player_interfaces.h:914
player_pose3d_t * poses
the pose of each IR detector on this robot
Definition: player_interfaces.h:2135
Definition: plan.h:72
QueuePointer InQueue
Queue for all incoming messages for this driver.
Definition: driver.h:285
uint8_t done
Have we arrived at the goal?
Definition: player_interfaces.h:3147
float scale
The scale of the map [m/pixel].
Definition: player_interfaces.h:3037
int32_t waypoint_idx
Current waypoint index (handy if you already have the list of waypoints).
Definition: player_interfaces.h:3157
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:112
player_laser_data_t scan
The scan data.
Definition: player_interfaces.h:912
Command: Draw polyline (PLAYER_GRAPHICS2D_CMD_POLYLINE) Draw a series of straight line segments betwe...
Definition: player_interfaces.h:4225
#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.
static bool MatchDeviceAddress(player_devaddr_t addr1, player_devaddr_t addr2)
Compare two addresses.
Definition: device.h:201
virtual int Subscribe(player_devaddr_t id)
Subscribe to this driver.
Definition: wbr914.cc:509
uint32_t width
The size of the tile [pixels].
Definition: player_interfaces.h:3062
uint32_t height
The size of the tile [pixels].
Definition: player_interfaces.h:3064
#define PLAYER_GRAPHICS2D_CMD_POLYLINE
Command subtype: draw a polyline.
Definition: player_interfaces.h:4195
uint32_t width
The size of the map [pixels].
Definition: player_interfaces.h:3039
double ReadTupleAngle(int section, const char *name, int index, double value)
Read an angle form a tuple (includes units conversion)
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition: wbr914.cc:491
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
player_color_t color
Color in which the points should be drawn.
Definition: player_interfaces.h:4219
Definition: plan.h:44
uint32_t voltages_count
number of valid samples
Definition: player_interfaces.h:2056
#define PLAYER_MAP_REQ_GET_DATA
Request/reply subtype: get grid map tile
Definition: player_interfaces.h:3024
player_point_2d_t * points
Array of points to be joined by lines.
Definition: player_interfaces.h:4230
#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
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
uint32_t points_count
Number of points in this packet.
Definition: player_interfaces.h:4215
uint8_t valid
Did the planner find a valid path?
Definition: player_interfaces.h:3145
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:886
player_point_2d_t * points
Array of points.
Definition: player_interfaces.h:4217
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_pose2d_t origin
The origin of the map [m, m, rad].
Definition: player_interfaces.h:3044
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
#define PLAYER_AIO_DATA_STATE
Data: state (PLAYER_AIO_DATA_STATE)
Definition: player_interfaces.h:2046
#define PLAYER_POSITION2D_CMD_POS
Command: position (PLAYER_POSITION2D_CMD_POS)
Definition: player_interfaces.h:588
player_pose2d_t pos
Current location (m,m,rad)
Definition: player_interfaces.h:3149
uint32_t waypoints_count
Number of waypoints to follow.
Definition: player_interfaces.h:3181
#define PLAYER_DIO_DATA_VALUES
Data: input values (PLAYER_DIO_DATA_VALUES)
Definition: player_interfaces.h:1984
#define PLAYER_GRAPHICS2D_CMD_POINTS
Command subtype: draw points.
Definition: player_interfaces.h:4192
#define PLAYER_PLANNER_REQ_GET_WAYPOINTS
Request subtype: get waypoints.
Definition: player_interfaces.h:3130
uint32_t points_count
Number of points in this packet.
Definition: player_interfaces.h:4228
Definition: wbr914.h:137
Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE)
Definition: player_interfaces.h:909
#define PLAYER_MAP_DATA_INFO
Data subtype: grid map metadata.
Definition: player_interfaces.h:3033
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:622
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
float resolution
Angular resolution [rad].
Definition: player_interfaces.h:890
#define PLAYER_MAP_REQ_GET_VECTOR
Request/reply subtype: get vector map.
Definition: player_interfaces.h:3027
player_pose2d_t waypoint
Current waypoint location (m,m,rad)
Definition: player_interfaces.h:3153
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:894
#define PLAYER_GRAPHICS2D_CMD_CLEAR
Command subtype: clear the drawing area (send an empty message)
Definition: player_interfaces.h:4189
#define PLAYER_MAP_REQ_GET_INFO
Request/reply subtype: get grid map metadata
Definition: player_interfaces.h:3021
virtual int MainSetup()
Sets up the resources needed by the driver thread.
Definition: wbr914.cc:320
#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
Command: start or goal position (PLAYER_PLANNER_CMD_GOAL, PLAYER_PLANNER_CMD_START)
Definition: player_interfaces.h:3165
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:629
#define PLAYER_PLANNER_REQ_ENABLE
Request subtype: enable / disable planner.
Definition: player_interfaces.h:3133