vfh_algorithm.h
Definition: player_interfaces.h:3039
#define PLAYER_PLANNER_CMD_GOAL
Command subtype: set goal position.
Definition: player_interfaces.h:3129
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:667
uint32_t data_count
The number of cells.
Definition: player_interfaces.h:3071
char * name
Identifier for the geometric shape.
Definition: player_interfaces.h:5153
uint32_t data_count
Size of data as stored in buffer (bytes)
Definition: player_interfaces.h:3452
player_pose3d_t * element_poses
Pose of each individual element that makes up the device (in device CS).
Definition: player_interfaces.h:5014
player_pose2d_t goal
Goal location (m,m,rad)
Definition: player_interfaces.h:3173
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:620
Definition: vfh_algorithm.h:27
float miny
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3089
#define PLAYER_LASER_DATA_SCAN
Data subtype: scan.
Definition: player_interfaces.h:845
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:158
uint32_t poses_count
The number of valid poses.
Definition: player_interfaces.h:788
player_vectormap_feature_data_t * features
Array of map features.
Definition: player_interfaces.h:5185
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
float maxy
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3091
char * name
Identifier for the layer.
Definition: player_interfaces.h:5170
uint32_t layers_count
The number of layers.
Definition: player_interfaces.h:5194
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:657
#define PLAYER_PLANNER_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:3126
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:663
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:165
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
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5179
struct player_vectormap_layer_data player_vectormap_layer_data_t
Vectormap data.
#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:3046
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:633
#define PLAYER_RANGER_DATA_RANGE
Data subtype: range scan.
Definition: player_interfaces.h:4949
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).
#define PLAYER_OPAQUE_DATA_STATE
Data subtype: generic state.
Definition: player_interfaces.h:3434
float scale
The scale of the map [m/pixel].
Definition: player_interfaces.h:3042
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:111
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:5027
float minx
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3085
float maxx
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3087
#define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA
Request/reply subtype: get layer data.
Definition: player_interfaces.h:5140
#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.
Request/reply: Turn power on/off (PLAYER_RANGER_REQ_POWER)
Definition: player_interfaces.h:5082
player_segment_t * segments
Line segments.
Definition: player_interfaces.h:3095
uint32_t width
The size of the tile [pixels].
Definition: player_interfaces.h:3067
uint32_t height
The size of the tile [pixels].
Definition: player_interfaces.h:3069
#define PLAYER_SONAR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:761
#define PLAYER_RANGER_REQ_POWER
Request/reply subtype: power config.
Definition: player_interfaces.h:4967
int8_t data_range
Maximum value for each cell (-range <= EMPTY < 0, unknown = 0, 0 < OCCUPIED <= range)
Definition: player_interfaces.h:3073
uint32_t width
The size of the map [pixels].
Definition: player_interfaces.h:3044
uint32_t wkb_count
Length of data in bytes.
Definition: player_interfaces.h:5155
Data: range scan (PLAYER_RANGER_DATA_RANGE)
Definition: player_interfaces.h:5024
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
uint32_t element_poses_count
Number of individual elements that make up the device.
Definition: player_interfaces.h:5012
#define PLAYER_SONAR_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:755
#define PLAYER_MAP_REQ_GET_DATA
Request/reply subtype: get grid map tile
Definition: player_interfaces.h:3024
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
char * name
Identifier for the layer.
Definition: player_interfaces.h:5181
#define PLAYER_VECTORMAP_REQ_GET_MAP_INFO
Request/reply subtype: get vectormap meta-data.
Definition: player_interfaces.h:5137
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5151
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:886
uint32_t ranges_count
The number of valid range readings.
Definition: player_interfaces.h:774
#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
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
player_pose2d_t origin
The origin of the map [m, m, rad].
Definition: player_interfaces.h:3049
#define PLAYER_POSITION2D_CMD_POS
Command: position (PLAYER_POSITION2D_CMD_POS)
Definition: player_interfaces.h:588
uint32_t features_count
The number of map features.
Definition: player_interfaces.h:5183
double * ranges
Range readings [m].
Definition: player_interfaces.h:5029
uint8_t * wkb
Well known binary describing the geometric shape.
Definition: player_interfaces.h:5157
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
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
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:894
player_extent2d_t extent
Boundary area.
Definition: player_interfaces.h:5198
uint32_t segments_count
The number of line segments
Definition: player_interfaces.h:3093
player_devaddr_t addr
Device to which this message pertains.
Definition: player.h:163
#define PLAYER_MAP_REQ_GET_INFO
Request/reply subtype: get grid map metadata
Definition: player_interfaces.h:3021
#define PLAYER_RANGER_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:4964
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:75
uint8_t * data
The data we will be sending.
Definition: player_interfaces.h:3454
Command: start or goal position (PLAYER_PLANNER_CMD_GOAL, PLAYER_PLANNER_CMD_START)
Definition: player_interfaces.h:3170
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:629
player_vectormap_layer_info_t * layers
Array of layers.
Definition: player_interfaces.h:5196