epuckCamera.hpp File Reference
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Classes | |
class | EpuckCamera |
Class for to get images from e-puck camera. More... | |
class | EpuckCamera::camera_version_error |
class | EpuckCamera::window_out_of_range |
class | EpuckCamera::window_length_error |
Detailed Description
Header file where are the EpuckCamera class, and the exception classes camera_version_error, window_out_of_range and window_length_error.
player_bbox2d_t fiducial_size
Dimensions of the fiducials in units of (m).
Definition: player_interfaces.h:1721
#define PLAYER_BUMPER_REQ_GET_GEOM
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1916
#define PLAYER_IMU_DATA_FULLSTATE
Data subtype: All IMU position/orientation data
Definition: player_interfaces.h:4696
uint32_t element_sizes_count
Number of individual elements that make up the device.
Definition: player_interfaces.h:5016
double cov[6]
The covariance matrix pose estimate (lower half, symmetric matrix) (cov(xx) in m$^2$,...
Definition: player_interfaces.h:2342
int32_t altitude
Altitude, in millimeters.
Definition: player_interfaces.h:1857
uint32_t bumpers_count
the number of valid bumper readings
Definition: player_interfaces.h:1925
uint32_t blobs_count
The number of blobs.
Definition: player_interfaces.h:1103
#define PLAYER_ACTARRAY_DATA_STATE
Idle state code.
Definition: player_interfaces.h:3774
Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS)
Definition: player_interfaces.h:1096
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
uint8_t have_geom
If non-zero, the geometry data has been filled.
Definition: player_interfaces.h:5041
#define PLAYER_POWER_MASK_JOULES
Data subtype: voltage.
Definition: player_interfaces.h:284
uint32_t color
A descriptive color for the blob (useful for gui's).
Definition: player_interfaces.h:1074
float gyro_z
The IMU's calibrated gyro value on Z-axis.
Definition: player_interfaces.h:4737
player_ranger_geom_t geom
The geometry of the device at the time the scan was acquired.
Definition: player_interfaces.h:5043
uint32_t intensities_count
Number of intensity readings.
Definition: player_interfaces.h:5056
Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT)
Definition: player_interfaces.h:4750
float accel_z
The node's acceleration on Z-axis from an acceleration sensor.
Definition: player_interfaces.h:4397
#define PLAYER_LOG_REQ_SET_WRITE_STATE
Request/reply subtype: set write state.
Definition: player_interfaces.h:3233
#define PLAYER_IR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:2108
float magn_y
The IMU's calibrated magnetic value on Y-axis.
Definition: player_interfaces.h:4741
uint8_t type
Type of the user defined message.
Definition: player_interfaces.h:5505
#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 num_sats
Number of satellites in view.
Definition: player_interfaces.h:1870
float temperature
The node's templerature measurement from a temperature sensor.
Definition: player_interfaces.h:4405
player_orientation_3d_t orientation
Orientation data as Euler angles.
Definition: player_interfaces.h:4772
#define PLAYER_POINTCLOUD3D_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:4854
uint32_t poses_count
The number of valid poses.
Definition: player_interfaces.h:788
uint32_t right
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1084
#define PLAYER_IMU_DATA_STATE
Data subtype: IMU position/orientation data.
Definition: player_interfaces.h:4684
player_fiducial_item_t * fiducials
List of detected fiducials.
Definition: player_interfaces.h:1705
float magn_x
The IMU's calibrated magnetic value on X-axis.
Definition: player_interfaces.h:4739
#define PLAYER_PTZ_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:1208
uint8_t * parameters
The comand info not previously included.
Definition: player_interfaces.h:5545
player_bumper_define_t * bumper_def
geometry of each bumper
Definition: player_interfaces.h:1953
uint32_t pending_count
The number of pending (unprocessed observations)
Definition: player_interfaces.h:2354
#define PLAYER_WIFI_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:2188
#define PLAYER_LASER_DATA_SCANPOSE
Data subtype: pose-stamped scan.
Definition: player_interfaces.h:848
#define PLAYER_COOPOBJECT_DATA_HEALTH
Data subtypes
Definition: player_interfaces.h:5349
Data: intensity scan (PLAYER_RANGER_DATA_INTNS)
Definition: player_interfaces.h:5053
player_pose3d_t pose
Laser pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:948
uint32_t poses_count
the number of ir samples returned by this robot
Definition: player_interfaces.h:2133
player_pose2d_t mean
The mean value of the pose estimate (m, m, rad).
Definition: player_interfaces.h:2338
uint32_t height
The image dimensions.
Definition: player_interfaces.h:1101
double ReadTupleLength(int section, const char *name, int index, double value)
Read a length from a tuple (includes units conversion)
Data: calibrated IMU data (PLAYER_IMU_DATA_STATE)
Definition: player_interfaces.h:4714
Request/reply: change the data type to one of the predefined data structures.
Definition: player_interfaces.h:4799
Definition: scan.h:39
uint32_t left
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1082
uint32_t links_count
length of said list
Definition: player_interfaces.h:2250
player_ranger_data_intns_t data
The scan data.
Definition: player_interfaces.h:5068
Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG)
Definition: player_interfaces.h:4983
float max_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:888
virtual int MainSetup(void)
Sets up the resources needed by the driver thread.
Definition: driver.h:657
uint32_t compression
Image compression; PLAYER_CAMERA_COMPRESS_RAW indicates no compression.
Definition: player_interfaces.h:2966
uint8_t state
The current state of the actuator.
Definition: player_interfaces.h:3804
float q0
Orientation data as quaternions.
Definition: player_interfaces.h:4756
virtual void MainQuit(void)
Cleanup method for driver thread (called when main exits)
Definition: driver.h:663
player_pose2d_t mean
The best (?) pose (mm, mm, arc-seconds).
Definition: player_interfaces.h:2395
uint32_t width
Image dimensions [pixels].
Definition: player_interfaces.h:2953
uint32_t quality
Quality of fix 0 = invalid, 1 = GPS fix, 2 = DGPS fix.
Definition: player_interfaces.h:1868
#define PLAYER_RANGER_DATA_INTNS
Data subtype: intensity scan.
Definition: player_interfaces.h:4955
Data: state (PLAYER_POSITION3D_DATA_STATE)
Definition: player_interfaces.h:2476
#define PLAYER_IR_REQ_POSE
Request/reply subtype: get pose.
Definition: player_interfaces.h:2102
Data: Stamped range scan (PLAYER_RANGER_DATA_RANGESTAMPED)
Definition: player_interfaces.h:5036
#define PLAYER_CAMERA_FORMAT_RGB888
Image format : 24-bit color (8 bits R, 8 bits G, 8 bits B).
Definition: player_interfaces.h:2942
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
Data: scan (PLAYER_LASER_DATA_SCANANGLE)
Definition: player_interfaces.h:920
uint32_t bottom
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1088
const char * ReadString(int section, const char *name, const char *value)
Read a string value.
#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
float accel_x
The IMU's calibrated acceleration value on X-axis.
Definition: player_interfaces.h:4727
#define PLAYER_RANGER_REQ_GET_CONFIG
Request/reply subtype: get configuration.
Definition: player_interfaces.h:4976
Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS)
Definition: player_interfaces.h:2351
Data: Get cloud (PLAYER_POINTCLOUD3D_DATA_STATE) The basic 3dcloudpoint data packet.
Definition: player_interfaces.h:4879
uint32_t hypoths_count
The number of pose hypotheses.
Definition: player_interfaces.h:2358
#define PLAYER_IMU_REQ_RESET_ORIENTATION
Request/reply subtype: reset orientation.
Definition: player_interfaces.h:4702
uint32_t robot
The "robot" or device collection in which the device resides.
Definition: player.h:150
player_ranger_config_t config
The sensor configuration at the time the scan was acquired.
Definition: player_interfaces.h:5076
double max_angle
End angle of scans [rad].
Definition: player_interfaces.h:4988
float speed
The speed of the actuator in m/s or rad/s depending on the type.
Definition: player_interfaces.h:3798
uint32_t parameters_count
Size of the request message parameters (in bytes)
Definition: player_interfaces.h:5524
double min_angle
Start angle of scans [rad].
Definition: player_interfaces.h:4986
#define PLAYER_RANGER_DATA_RANGE
Data subtype: range scan.
Definition: player_interfaces.h:4949
player_ranger_config_t config
The sensor configuration at the time the scan was acquired.
Definition: player_interfaces.h:5047
#define PLAYER_RANGER_DATA_INTNSSTAMPED
Data subtype: intensity scan with extra info.
Definition: player_interfaces.h:4958
uint32_t image_count
Size of image data as stored in image buffer (bytes)
Definition: player_interfaces.h:2968
player_pose3d_t vel
The complete velocity of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4785
double speed
Speed over ground, in meters/second .
Definition: player_interfaces.h:1859
#define PLAYER_LOG_REQ_GET_STATE
Request/reply subtype: get state.
Definition: player_interfaces.h:3239
#define PLAYER_POWER_MASK_WATTS
Data subtype: voltage.
Definition: player_interfaces.h:283
player_pose2d_t pose
The global pose of the laser at the time the scan was acquired.
Definition: player_interfaces.h:914
#define PLAYER_OPAQUE_DATA_STATE
Data subtype: generic state.
Definition: player_interfaces.h:3434
Available interfaces are stored in an array of these, defined in interface_util.c.
Definition: interface_util.h:70
#define PLAYER_COOPOBJECT_DATA_ALARM
Data subtypes
Definition: player_interfaces.h:5358
player_pose3d_t upose
Uncertainty in the measured pose .
Definition: player_interfaces.h:1693
player_pose3d_t * poses
the pose of each IR detector on this robot
Definition: player_interfaces.h:2135
float radius
radius of curvature [m] - zero for straight lines
Definition: player_interfaces.h:1938
player_localize_hypoth_t * hypoths
The array of the hypotheses.
Definition: player_interfaces.h:2360
Data: Euler orientation data (PLAYER_IMU_DATA_EULER)
Definition: player_interfaces.h:4766
float range
Range to the blob center [meters].
Definition: player_interfaces.h:1090
float max_range
Maximum range [m].
Definition: player_interfaces.h:923
uint8_t type
The type of log device, either PLAYER_LOG_TYPE_READ or PLAYER_LOG_TYPE_WRITE.
Definition: player_interfaces.h:3290
player_pose2d_t pose
The particle's pose (m,m,rad)
Definition: player_interfaces.h:2382
int32_t pos[8]
Current joystick position X, Y and Yaw (unscaled)
Definition: player_interfaces.h:3349
uint32_t bumper_def_count
The number of valid bumper definitions.
Definition: player_interfaces.h:1951
uint32_t area
The blob area [pixels].
Definition: player_interfaces.h:1076
float battery
The node's remaining battery voltage.
Definition: player_interfaces.h:4407
player_wsn_node_data_t data_packet
The WSN node's data packet.
Definition: player_interfaces.h:4422
#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
uint32_t data_count
Size of the undefined message (in bytes)
Definition: player_interfaces.h:5507
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, rad).
Definition: player_interfaces.h:658
Definition: scan.h:45
uint32_t filename_count
Length of filename.
Definition: player_interfaces.h:3302
double alpha
The weight coefficient for linear combination (alpha)
Definition: player_interfaces.h:2384
player_laser_data_t scan
The scan data.
Definition: player_interfaces.h:912
uint8_t request
Type of the request.
Definition: player_interfaces.h:5522
#define PLAYER_CAMERA_DATA_STATE
Data subtype: state.
Definition: player_interfaces.h:2922
float acceleration
The acceleration of the actuator in m/s^2 or rad/s^2 depending on the type.
Definition: player_interfaces.h:3800
uint32_t particles_count
The number of particles included.
Definition: player_interfaces.h:2399
uint8_t * image
Compressed image data (byte-aligned, row major order).
Definition: player_interfaces.h:2972
float current
The current of the actuator in A.
Definition: player_interfaces.h:3802
player_bbox3d_t size
Size of the device [m, m, m].
Definition: player_interfaces.h:5010
#define PLAYER_LOG_TYPE_WRITE
Types of log device: write.
Definition: player_interfaces.h:3252
uint32_t id
A unique, increasing, ID for the scan.
Definition: player_interfaces.h:902
#define PLAYER_POSITION2D_REQ_GET_GEOM
Request/reply: geometry.
Definition: player_interfaces.h:483
float accel_z
The IMU's calibrated acceleration value on Z-axis.
Definition: player_interfaces.h:4731
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
bool ReadBool(int section, const char *name, bool value)
Read a boolean value (one of: yes, no, true, false, 1, 0)
player_pose3d_t acc
The complete acceleration of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4787
Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE)
Definition: player_interfaces.h:4780
#define PLAYER_OPAQUE_CMD
Data subtype: generic state.
Definition: player_interfaces.h:3446
uint8_t have_geom
If non-zero, the geometry data has been filled.
Definition: player_interfaces.h:5070
int32_t longitude
Longitude in degrees / 1e7 (units are scaled such that the effective resolution is roughly 1cm).
Definition: player_interfaces.h:1854
double alpha
The weight coefficient for linear combination (alpha)
Definition: player_interfaces.h:2344
float magn_x
The node's magnetic measurement on X-axis from a magnetometer.
Definition: player_interfaces.h:4399
uint32_t vdop
Vertical dilution of position (VDOP), times 10.
Definition: player_interfaces.h:1874
float * angles
Angle readings [m].
Definition: player_interfaces.h:931
uint8_t state
State: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3262
float watts
estimated current energy consumption (negative values) or aquisition (positive values) [W].
Definition: player_interfaces.h:306
#define PLAYER_FIDUCIAL_REQ_GET_GEOM
Info on a single detected fiducial.
Definition: player_interfaces.h:1666
float tiltspeed
Current tilt velocity [rad/s].
Definition: player_interfaces.h:1239
Data (PLAYER_COOPOBJECT_DATA_USERDEFINED)
Definition: player_interfaces.h:5501
float light
The node's light measurement from a light sensor.
Definition: player_interfaces.h:4389
player_bbox3d_t size
Dimensions of the base (m, m, m).
Definition: player_interfaces.h:2520
#define PLAYER_LOCALIZE_DATA_HYPOTHS
Data subtype: pose hypotheses.
Definition: player_interfaces.h:2320
uint32_t parameters_count
Size of the data of the message (in bytes)
Definition: player_interfaces.h:5543
#define PLAYER_LASER_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:854
#define PLAYER_MSGTYPE_RESP_NACK
A negative response message.
Definition: player.h:124
double min_range
Minimum range [m].
Definition: player_interfaces.h:4993
double course
Course made good (heading if the robot moves along its longitudinal axis), in radians.
Definition: player_interfaces.h:1862
#define PLAYER_SONAR_DATA_RANGES
Data subtype: ranges.
Definition: player_interfaces.h:761
uint8_t * parameters
Request message parameters
Definition: player_interfaces.h:5526
uint32_t value
driver-specific
Definition: player_interfaces.h:4814
#define PLAYER_COOPOBJECT_DATA_REQUEST
Data subtypes
Definition: player_interfaces.h:5364
uint32_t node_type
The type of WSN node.
Definition: player_interfaces.h:4416
Data: range scan (PLAYER_RANGER_DATA_RANGE)
Definition: player_interfaces.h:5024
float mic
The node's accoustic measurement from a microphone.
Definition: player_interfaces.h:4391
float panspeed
Current pan velocity [rad/s].
Definition: player_interfaces.h:1237
uint32_t buttons
Button states (bitmask)
Definition: player_interfaces.h:3353
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:2518
int ReadDeviceAddr(player_devaddr_t *addr, int section, const char *name, int code, int index, const char *key)
Read a device id.
float accel_x
The node's acceleration on X-axis from an acceleration sensor.
Definition: player_interfaces.h:4393
#define PLAYER_IMU_DATA_EULER
Data subtype: Euler orientation data
Definition: player_interfaces.h:4693
uint32_t element_poses_count
Number of individual elements that make up the device.
Definition: player_interfaces.h:5012
uint32_t top
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1086
int GetTupleCount(int section, const char *name)
Get the number of values in a tuple.
#define PLAYER_COOPOBJECT_DATA_COMMAND
Data subtypes
Definition: player_interfaces.h:5367
player_bbox3d_t size
Size of the detector.
Definition: player_interfaces.h:1719
uint8_t value
Data type setting: 1 for pose/orientation, 2 for calibrated (raw) data, 3 for quaternions,...
Definition: player_interfaces.h:4804
uint8_t have_config
If non-zero, the configuration data has been filled.
Definition: player_interfaces.h:5074
player_actarray_actuator_t * actuators
The actuator data.
Definition: player_interfaces.h:3815
#define PLAYER_BUMPER_DATA_STATE
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1910
uint8_t state
Logging/playback state: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3292
#define PLAYER_SONAR_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:755
#define PLAYER_SONAR_DATA_GEOM
Data subtype: geometry.
Definition: player_interfaces.h:764
#define PLAYER_COOPOBJECT_DATA_USERDEFINED
Data subtypes
Definition: player_interfaces.h:5361
int32_t charging
charge exchange status: if 1, the device is currently receiving charge from another energy device.
Definition: player_interfaces.h:311
#define PLAYER_LOCALIZE_REQ_GET_PARTICLES
Request/reply subtype: get particle set.
Definition: player_interfaces.h:2326
#define PLAYER_CAPABILITIES_REQ
Capability request message type.
Definition: player.h:396
uint8_t * intensity
Intensity readings.
Definition: player_interfaces.h:935
uint32_t data_count
Number of sensors included.
Definition: player_interfaces.h:5491
uint32_t fiducials_count
The number of detected fiducials.
Definition: player_interfaces.h:1703
uint8_t * bumpers
array of bumper values
Definition: player_interfaces.h:1927
uint32_t format
Image format (must be compatible with depth).
Definition: player_interfaces.h:2959
#define PLAYER_POSITION3D_REQ_GET_GEOM
Request/reply subtype: get geometry.
Definition: player_interfaces.h:2444
int32_t scale[8]
Scaling factors for X, Y and Yaw — not using these yet.
Definition: player_interfaces.h:3351
double * intensities
Intensity readings.
Definition: player_interfaces.h:5058
uint8_t origin
0 for fixed from base, 1 for mobile from base, 2 for mote-interface, 3 for Robot
Definition: player_interfaces.h:5431
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
uint32_t node_parent_id
The ID of the WSN node's parent (if existing).
Definition: player_interfaces.h:4420
Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN)
Definition: player_interfaces.h:1700
player_bbox3d_t * element_sizes
Size of each individual element that makes up the device.
Definition: player_interfaces.h:5018
#define PLAYER_RANGER_DATA_RANGESTAMPED
Data subtype: range scan with extra info.
Definition: player_interfaces.h:4952
float magn_z
The node's magnetic measurement on Z-axis from a magnetometer.
Definition: player_interfaces.h:4403
#define PLAYER_IMU_DATA_QUAT
Data subtype: Quaternions orientation data
Definition: player_interfaces.h:4690
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition: player_interfaces.h:4769
player_wifi_link_t * links
A list of links.
Definition: player_interfaces.h:2252
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4717
#define PLAYER_POSITION3D_DATA_GEOMETRY
Data subtype: geometry.
Definition: player_interfaces.h:2435
uint8_t have_config
If non-zero, the configuration data has been filled.
Definition: player_interfaces.h:5045
#define PLAYER_POWER_MASK_CHARGING
Data subtype: voltage.
Definition: player_interfaces.h:286
uint32_t width
The image dimensions.
Definition: player_interfaces.h:1099
#define PLAYER_LASER_DATA_SCANANGLE
Data subtype: angle-stamped scan.
Definition: player_interfaces.h:851
#define PLAYER_COOPOBJECT_DATA_RSSI
Data subtypes
Definition: player_interfaces.h:5352
#define PLAYER_CAMERA_COMPRESS_RAW
Compression method: raw.
Definition: player_interfaces.h:2945
player_ranger_geom_t geom
The geometry of the device at the time the scan was acquired.
Definition: player_interfaces.h:5072
double range_res
Range resolution [m].
Definition: player_interfaces.h:4997
Command: send command from robot to any or all WSN nodes or viceversa
Definition: player_interfaces.h:5535
#define PLAYER_BUMPER_DATA_GEOM
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1913
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:886
#define PLAYER_FIDUCIAL_DATA_SCAN
Info on a single detected fiducial.
Definition: player_interfaces.h:1663
uint32_t actuators_count
The number of actuators in the array.
Definition: player_interfaces.h:3813
uint32_t ranges_count
The number of valid range readings.
Definition: player_interfaces.h:774
float gyro_x
The IMU's calibrated gyro value on X-axis.
Definition: player_interfaces.h:4733
double pending_time
The time stamp of the last observation processed.
Definition: player_interfaces.h:2356
uint32_t ranges_count
number of samples
Definition: player_interfaces.h:2122
char filename[256]
Filename; max 255 chars + terminating NULL.
Definition: player_interfaces.h:3304
player_coopobject_sensor_t * data
The node sensors measurements.
Definition: player_interfaces.h:5493
double max_range
Maximum range [m].
Definition: player_interfaces.h:4995
player_localize_particle_t * particles
The particles.
Definition: player_interfaces.h:2401
#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_blobfinder_blob_t * blobs
The list of blobs.
Definition: player_interfaces.h:1105
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
float percent
Percent of full charge [%].
Definition: player_interfaces.h:301
Request/reply: Reset orientation.
Definition: player_interfaces.h:4811
double variance
The variance of the best (?) pose (mm^2)
Definition: player_interfaces.h:2397
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:925
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
float accel_y
The IMU's calibrated acceleration value on Y-axis.
Definition: player_interfaces.h:4729
#define PLAYER_AIO_DATA_STATE
Data: state (PLAYER_AIO_DATA_STATE)
Definition: player_interfaces.h:2046
player_pose3d_t pose
Fiducial pose relative to the detector.
Definition: player_interfaces.h:1691
double utm_e
UTM WGS84 coordinates, easting [m].
Definition: player_interfaces.h:1864
float magn_z
The IMU's calibrated magnetic value on Z-axis.
Definition: player_interfaces.h:4743
uint16_t parent_id
The ID of the CO parent (if existing).
Definition: player_interfaces.h:5435
player_bbox3d_t size
Laser dimensions (m, m, m).
Definition: player_interfaces.h:950
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition: player_interfaces.h:4753
float magn_y
The node's magnetic measurement on Y-axis from a magnetometer.
Definition: player_interfaces.h:4401
double * ranges
Range readings [m].
Definition: player_interfaces.h:5029
uint8_t type
The type of sensor (see above)
Definition: player_interfaces.h:5476
float length
length of the sensor [m]
Definition: player_interfaces.h:1936
uint32_t hdop
Horizontal dilution of position (HDOP), times 10.
Definition: player_interfaces.h:1872
#define PLAYER_IMU_DATA_CALIB
Data subtype: Calibrated IMU data
Definition: player_interfaces.h:4687
uint8_t stall
Are the motors stalled?
Definition: player_interfaces.h:2483
double frequency
Scanning frequency [Hz].
Definition: player_interfaces.h:4999
int16_t value
Value of the sensor/alarm
Definition: player_interfaces.h:5478
float position
The position of the actuator in m or rad depending on the type.
Definition: player_interfaces.h:3796
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4783
#define PLAYER_DIO_DATA_VALUES
Data: input values (PLAYER_DIO_DATA_VALUES)
Definition: player_interfaces.h:1984
float gyro_y
The IMU's calibrated gyro value on Y-axis.
Definition: player_interfaces.h:4735
#define PLAYER_IMU_REQ_SET_DATATYPE
Request/reply subtype: set data type.
Definition: player_interfaces.h:4699
int32_t latitude
Latitude in degrees / 1e7 (units are scaled such that the effective resolution is roughly 1cm).
Definition: player_interfaces.h:1850
#define PLAYER_LOG_REQ_SET_FILENAME
Request/reply subtype: set filename to write.
Definition: player_interfaces.h:3245
uint8_t * data
The node info not previously included.
Definition: player_interfaces.h:5509
uint32_t id
A unique, increasing, ID for the scan.
Definition: player_interfaces.h:937
uint32_t intensity_count
Number of intensity readings.
Definition: player_interfaces.h:898
uint32_t time_sec
GPS (UTC) time, in seconds and microseconds since the epoch.
Definition: player_interfaces.h:1844
#define PLAYER_POWER_MASK_PERCENT
Data subtype: voltage.
Definition: player_interfaces.h:285
Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB)
Definition: player_interfaces.h:4724
Request: send request from robot to any or all WSN nodes or viceversa
Definition: player_interfaces.h:5516
Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE)
Definition: player_interfaces.h:909
uint16_t sender_id
The node RSSI measurements.
Definition: player_interfaces.h:5445
player_pose3d_t pose
Pose of the detector in the robot cs.
Definition: player_interfaces.h:1717
float accel_y
The node's acceleration on Y-axis from an acceleration sensor.
Definition: player_interfaces.h:4395
#define PLAYER_COOPOBJECT_DATA_SENSOR
Data subtypes
Definition: player_interfaces.h:5355
Data (PLAYER_COOPOBJECT_DATA_SENSOR)
Definition: player_interfaces.h:5485
double utm_n
UTM WGS84 coordinates, northing [m].
Definition: player_interfaces.h:1866
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
uint32_t height
Image dimensions [pixels].
Definition: player_interfaces.h:2955
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
uint16_t interf
The interface provided by the device; must be one of PLAYER_*_CODE.
Definition: player.h:152
player_pose3d_t pose
Device centre pose in robot CS [m, m, m, rad, rad, rad].
Definition: player_interfaces.h:5008
float * ranges
Range readings [m].
Definition: player_interfaces.h:927
#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
double angular_res
Scan resolution [rad].
Definition: player_interfaces.h:4990
player_pose3d_t pose
the local pose of a single bumper
Definition: player_interfaces.h:1934
Data: Stamped intensity scan (PLAYER_RANGER_DATA_INTNSSTAMPED)
Definition: player_interfaces.h:5065
uint8_t * data
The data we will be sending.
Definition: player_interfaces.h:3454
uint8_t * intensity
Intensity readings.
Definition: player_interfaces.h:900
#define PLAYER_CAMERA_COMPRESS_JPEG
Compression method: jpeg.
Definition: player_interfaces.h:2947
uint32_t bpp
Image bits-per-pixel (8, 16, 24, 32).
Definition: player_interfaces.h:2957
player_ranger_data_range_t data
The scan data.
Definition: player_interfaces.h:5039