nimu.h
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:620
#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
double ReadFloat(int section, const char *name, double value)
Read a floating point (double) value.
player_pose3d_t pose
Laser pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:948
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:657
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:663
Definition: nd.h:55
uint8_t type
Message type; must be one of PLAYER_MSGTYPE_*.
Definition: player.h:165
#define PLAYER_POSITION2D_CMD_VEL
Command: velocity (PLAYER_POSITION2D_CMD_VEL)
Definition: player_interfaces.h:581
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_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
Definition: nd.h:177
Definition: nd.h:79
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
#define PLAYER_LASER_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:854
#define PLAYER_SONAR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:761
double ReadTupleAngle(int section, const char *name, int index, double value)
Read an angle form a tuple (includes units conversion)
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
Definition: nd.h:140
int GetTupleCount(int section, const char *name)
Get the number of values in a tuple.
#define PLAYER_SONAR_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:755
int ReadTupleInt(int section, const char *name, int index, int value)
Read an integer from a tuple field.
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
Definition: nimu.h:62
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
Definition: nd.h:156
#define PLAYER_POSITION2D_CMD_POS
Command: position (PLAYER_POSITION2D_CMD_POS)
Definition: player_interfaces.h:588
Definition: nimu.h:38
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
float resolution
Angular resolution [rad].
Definition: player_interfaces.h:890
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:894
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
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:629