segwayrmp.h
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
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:159
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition: segwayrmp.cc:388
Definition: segwayrmp.h:40
Definition: usb_packet.h:71
Definition: canio.h:45
Data: state (PLAYER_POSITION3D_DATA_STATE)
Definition: player_interfaces.h:2476
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
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_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
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
player_pose3d_t vel
(x, y, z, roll, pitch, yaw) velocity [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2507
double ReadAngle(int section, const char *name, double value)
Read an angle (includes unit conversion).
double ReadLength(int section, const char *name, double value)
Read a length (includes unit conversion, if any).
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:2509
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: segwayrmp.cc:589
#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_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
#define PLAYER_POSITION3D_CMD_SET_VEL
Command subtype: velocity control.
Definition: player_interfaces.h:2438
#define PLAYER_MSGTYPE_RESP_NACK
A negative response message.
Definition: player.h:125
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
#define PLAYER_POSITION3D_REQ_MOTOR_POWER
Request/reply subtype: motor power.
Definition: player_interfaces.h:2447
#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
Definition: canio_kvaser.h:27
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)
Definition: player_interfaces.h:2504
#define PLAYER_POSITION2D_DATA_STATE
Data: state (PLAYER_POSITION2D_DATA_STATE)
Definition: player_interfaces.h:568
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
Definition: rmp_frame.h:67
uint8_t stall
Are the motors stalled?
Definition: player_interfaces.h:2483
Definition: canio.h:107
virtual int MainSetup()
Sets up the resources needed by the driver thread.
Definition: segwayrmp.cc:298
int CanBusSetup()
Sets up the CAN bus for communication.
Definition: segwayrmp.cc:341
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:622
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
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