epuckDriver.hpp
double velocity
forward velocity (m/s)
Definition: player_interfaces.h:640
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
uint8_t enable
FALSE: off, TRUE: on.
Definition: player_interfaces.h:2863
#define PLAYER_IR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:2108
Data: state (PLAYER_BLINKENLIGHT_DATA_STATE) The blinkenlight data provides the current state of the ...
Definition: player_interfaces.h:2826
static bool MatchMessage(player_msghdr_t *hdr, int type, int subtype, player_devaddr_t addr)
Helper for message processing.
Definition: message.h:158
#define PLAYER_CAMERA_FORMAT_RGB565
Image format : 16-bit color (5 bits R, 6 bits G, 5 bits B).
Definition: player_interfaces.h:2940
uint32_t poses_count
the number of ir samples returned by this robot
Definition: player_interfaces.h:2133
Struct which represents the pose and velocity of e-puck.
Definition: epuckPosition2d.hpp:45
virtual int MainSetup()
Sets up the resources needed by the driver thread.
Definition: epuckDriver.cpp:222
uint32_t compression
Image compression; PLAYER_CAMERA_COMPRESS_RAW indicates no compression.
Definition: player_interfaces.h:2966
uint32_t width
Image dimensions [pixels].
Definition: player_interfaces.h:2953
#define PLAYER_IR_REQ_POSE
Request/reply subtype: get pose.
Definition: player_interfaces.h:2102
const char * ReadString(int section, const char *name, const char *value)
Read a string value.
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
uint32_t fdiv
Some images (such as disparity maps) use scaled pixel values; for these images, fdiv specifies the sc...
Definition: player_interfaces.h:2963
float height
Height of e-puck body.
Definition: epuckPosition2d.hpp:41
EpuckCamera(const SerialPort *const serialPort, unsigned sensor_x1, unsigned sensor_y1, unsigned sensor_width, unsigned sensor_height, unsigned zoom_fact_width, unsigned zoom_fact_height, ColorModes color_mode)
The EpuckCamera class constructor.
Definition: epuckCamera.cpp:43
ColorModes
Possible color modes for e-puck camera.
Definition: epuckCamera.hpp:80
uint32_t image_count
Size of image data as stored in image buffer (bytes)
Definition: player_interfaces.h:2968
double angle
relative turning angle (rad)
Definition: player_interfaces.h:642
player_pose3d_t * poses
the pose of each IR detector on this robot
Definition: player_interfaces.h:2135
QueuePointer InQueue
Queue for all incoming messages for this driver.
Definition: driver.h:284
#define PLAYER_CAMERA_FORMAT_MONO16
Image format : 16-bit monochrome (network byte order).
Definition: player_interfaces.h:2938
#define PLAYER_MSGTYPE_RESP_ACK
A positive response message.
Definition: player.h:111
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, rad).
Definition: player_interfaces.h:658
#define PLAYER_CAMERA_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:2922
Plug-in driver for the e-puck robot, in conformity with Player version 2.1.
Definition: epuckDriver.hpp:41
uint8_t * image
Compressed image data (byte-aligned, row major order).
Definition: player_interfaces.h:2972
std::vector< float > voltages
The raw IR readings.
Definition: epuckIR.hpp:41
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
Struct which represents the geometry of e-puck body.
Definition: epuckPosition2d.hpp:38
Triple velocity
E-puck velocity in a 2D surface.
Definition: epuckPosition2d.hpp:48
position2d command setting velocity and steering angle
Definition: player_interfaces.h:637
const SerialPort *const serialPort
A SerialPort class instance shared among the device interfaces.
Definition: epuckInterface.hpp:59
static const unsigned RING_LEDS_NUM
The quantity of LEDs in e-puck ring LEDs.
Definition: epuckLEDs.hpp:36
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
std::vector< float > ranges
The equivalent obstacle distance.
Definition: epuckIR.hpp:42
#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
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition: epuckDriver.cpp:290
Command: power (PLAYER_BLINKENLIGHT_CMD_POWER) This blinkenlight command turns the light on or off.
Definition: player_interfaces.h:2858
#define PLAYER_CAMERA_COMPRESS_RAW
Compression method: raw.
Definition: player_interfaces.h:2945
uint32_t voltages_count
number of samples
Definition: player_interfaces.h:2118
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition: epuckDriver.cpp:257
float width
Width of e-puck body.
Definition: epuckPosition2d.hpp:40
uint32_t ranges_count
number of samples
Definition: player_interfaces.h:2122
virtual int Unsubscribe(player_devaddr_t addr)
Unsubscribe from this driver.
Definition: epuckDriver.cpp:274
#define PLAYER_CAMERA_FORMAT_MONO8
Image format : 8-bit monochrome.
Definition: player_interfaces.h:2936
#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
virtual int Subscribe(player_devaddr_t addr)
Subscribe to this driver.
Definition: epuckDriver.cpp:263
Struct which represents a triple (x,y,theta).
Definition: epuckInterface.hpp:38
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
#define PLAYER_BLINKENLIGHT_CMD_POWER
Data: state (PLAYER_BLINKENLIGHT_DATA_STATE) The blinkenlight data provides the current state of the ...
Definition: player_interfaces.h:2814
uint32_t height
Image dimensions [pixels].
Definition: player_interfaces.h:2955
Triple pose
E-puck pose in a 2D surface.
Definition: epuckPosition2d.hpp:47
uint16_t interf
The interface provided by the device; must be one of PLAYER_*_CODE.
Definition: player.h:152
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition: player.h:75
#define PLAYER_POSITION2D_REQ_SET_ODOM
Request/reply: Set odometry.
Definition: player_interfaces.h:535
#define PLAYER_POSITION2D_CMD_CAR
Command: carlike (PLAYER_POSITION2D_CMD_CAR)
Definition: player_interfaces.h:594
uint32_t bpp
Image bits-per-pixel (8, 16, 24, 32).
Definition: player_interfaces.h:2957