segwayrmp400.h
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition: segwayrmp400.cc:247
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.
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:158
int ProcessMessage(QueuePointer &resp_queue, player_msghdr_t *hdr, void *data)
Message handler.
Definition: segwayrmp400.cc:292
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:165
#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
QueuePointer InQueue
Queue for all incoming messages for this driver.
Definition: driver.h:284
virtual int MainSetup()
Sets up the resources needed by the driver thread.
Definition: segwayrmp400.cc:197
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:111
void PutMsg(QueuePointer &resp_queue, uint8_t type, uint8_t subtype, void *src, size_t deprecated, double *timestamp)
Send a message to this device.
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
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
int HandlePosition2DCmd(player_position2d_cmd_vel_t *cmd)
Definition: segwayrmp400.cc:405
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
double timestamp
Time associated with message contents (seconds since epoch)
Definition: player.h:169
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
Message * Request(QueuePointer &resp_queue, uint8_t type, uint8_t subtype, void *src, size_t deprecated, double *timestamp, bool threaded=true)
Make a request of another device.
Definition: segwayrmp400.h:45
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:163
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:75
int HandlePosition3DCmd(player_position3d_cmd_vel_t *cmd)
Definition: segwayrmp400.cc:390