playerc.h
459PLAYERC_EXPORT int playerc_mclient_addclient(playerc_mclient_t *mclient, struct _playerc_client_t *client);
692PLAYERC_EXPORT int playerc_client_set_replace_rule(playerc_client_t *client, int interf, int index, int type, int subtype, int replace);
697PLAYERC_EXPORT int playerc_client_adddevice(playerc_client_t *client, struct _playerc_device_t *device);
702PLAYERC_EXPORT int playerc_client_deldevice(playerc_client_t *client, struct _playerc_device_t *device);
706PLAYERC_EXPORT int playerc_client_addcallback(playerc_client_t *client, struct _playerc_device_t *device,
711PLAYERC_EXPORT int playerc_client_delcallback(playerc_client_t *client, struct _playerc_device_t *device,
814PLAYERC_EXPORT int playerc_client_read_nonblock_withproxy(playerc_client_t *client, void ** proxy);
822PLAYERC_EXPORT void playerc_client_set_request_timeout(playerc_client_t* client, uint32_t seconds);
931PLAYERC_EXPORT int playerc_device_hascapability(playerc_device_t *device, uint32_t type, uint32_t subtype);
934PLAYERC_EXPORT int playerc_device_get_boolprop(playerc_device_t *device, char *property, BOOL *value);
937PLAYERC_EXPORT int playerc_device_set_boolprop(playerc_device_t *device, char *property, BOOL value);
940PLAYERC_EXPORT int playerc_device_get_intprop(playerc_device_t *device, char *property, int32_t *value);
943PLAYERC_EXPORT int playerc_device_set_intprop(playerc_device_t *device, char *property, int32_t value);
946PLAYERC_EXPORT int playerc_device_get_dblprop(playerc_device_t *device, char *property, double *value);
949PLAYERC_EXPORT int playerc_device_set_dblprop(playerc_device_t *device, char *property, double value);
952PLAYERC_EXPORT int playerc_device_get_strprop(playerc_device_t *device, char *property, char **value);
955PLAYERC_EXPORT int playerc_device_set_strprop(playerc_device_t *device, char *property, char *value);
1057PLAYERC_EXPORT playerc_actarray_t *playerc_actarray_create(playerc_client_t *client, int index);
1069PLAYERC_EXPORT player_actarray_actuator_t playerc_actarray_get_actuator_data(playerc_actarray_t *device, uint32_t index);
1072PLAYERC_EXPORT player_actarray_actuatorgeom_t playerc_actarray_get_actuator_geom(playerc_actarray_t *device, uint32_t index);
1079PLAYERC_EXPORT int playerc_actarray_position_cmd(playerc_actarray_t *device, int joint, float position);
1082PLAYERC_EXPORT int playerc_actarray_multi_position_cmd(playerc_actarray_t *device, float *positions, int positions_count);
1085PLAYERC_EXPORT int playerc_actarray_speed_cmd(playerc_actarray_t *device, int joint, float speed);
1088PLAYERC_EXPORT int playerc_actarray_multi_speed_cmd(playerc_actarray_t *device, float *speeds, int speeds_count);
1094PLAYERC_EXPORT int playerc_actarray_current_cmd(playerc_actarray_t *device, int joint, float current);
1097PLAYERC_EXPORT int playerc_actarray_multi_current_cmd(playerc_actarray_t *device, float *currents, int currents_count);
1109PLAYERC_EXPORT int playerc_actarray_speed_config(playerc_actarray_t *device, int joint, float speed);
1112PLAYERC_EXPORT int playerc_actarray_accel_config(playerc_actarray_t *device, int joint, float accel);
1167PLAYERC_EXPORT int playerc_audio_wav_play_cmd(playerc_audio_t *device, uint32_t data_count, uint8_t data[], uint32_t format);
1176PLAYERC_EXPORT int playerc_audio_seq_play_cmd(playerc_audio_t *device, player_audio_seq_t * tones);
1179PLAYERC_EXPORT int playerc_audio_mixer_multchannels_cmd(playerc_audio_t *device, player_audio_mixer_channel_list_t * levels);
1182PLAYERC_EXPORT int playerc_audio_mixer_channel_cmd(playerc_audio_t *device, uint32_t index, float amplitude, uint8_t active);
1189PLAYERC_EXPORT int playerc_audio_sample_load(playerc_audio_t *device, int index, uint32_t data_count, uint8_t data[], uint32_t format);
1196PLAYERC_EXPORT int playerc_audio_sample_rec(playerc_audio_t *device, int index, uint32_t length);
1239PLAYERC_EXPORT playerc_blackboard_t *playerc_blackboard_create(playerc_client_t *client, int index);
1252PLAYERC_EXPORT int playerc_blackboard_subscribe_to_key(playerc_blackboard_t *device, const char* key, const char* group, player_blackboard_entry_t** entry);
1256PLAYERC_EXPORT int playerc_blackboard_get_entry(playerc_blackboard_t *device, const char* key, const char* group, player_blackboard_entry_t** entry);
1259PLAYERC_EXPORT int playerc_blackboard_unsubscribe_from_key(playerc_blackboard_t *device, const char* key, const char* group);
1262PLAYERC_EXPORT int playerc_blackboard_subscribe_to_group(playerc_blackboard_t *device, const char* group);
1265PLAYERC_EXPORT int playerc_blackboard_unsubscribe_from_group(playerc_blackboard_t *device, const char* group);
1268PLAYERC_EXPORT int playerc_blackboard_set_entry(playerc_blackboard_t *device, player_blackboard_entry_t* entry);
1270PLAYERC_EXPORT int playerc_blackboard_set_string(playerc_blackboard_t *device, const char* key, const char* group, const char* value);
1272PLAYERC_EXPORT int playerc_blackboard_set_int(playerc_blackboard_t *device, const char* key, const char* group, const int value);
1274PLAYERC_EXPORT int playerc_blackboard_set_double(playerc_blackboard_t *device, const char* key, const char* group, const double value);
1302PLAYERC_EXPORT playerc_blinkenlight_t *playerc_blinkenlight_create(playerc_client_t *client, int index);
1361PLAYERC_EXPORT playerc_blobfinder_t *playerc_blobfinder_create(playerc_client_t *client, int index);
1502PLAYERC_EXPORT int playerc_camera_set_source(playerc_camera_t *device, int source, const char *norm);
1511PLAYERC_EXPORT void playerc_camera_copy_image(playerc_camera_t * device, void * dst, size_t dst_size);
1514PLAYERC_EXPORT unsigned playerc_camera_get_pixel_component(playerc_camera_t * device, unsigned int x, unsigned int y, int component);
1594PLAYERC_EXPORT playerc_coopobject_t *playerc_coopobject_create(playerc_client_t *client, int index);
1606PLAYERC_EXPORT int playerc_coopobject_send_position(playerc_coopobject_t *device, uint16_t node_id, uint16_t source_id, player_pose2d_t pos, uint8_t status);
1609PLAYERC_EXPORT int playerc_coopobject_send_data(playerc_coopobject_t *device, int node_id, int source_id, int data_type, int data_size, unsigned char *extradata);
1612PLAYERC_EXPORT int playerc_coopobject_send_cmd(playerc_coopobject_t *device, int node_id, int source_id, int cmd, int parameters_size, unsigned char *parameters);
1615PLAYERC_EXPORT int playerc_coopobject_send_req(playerc_coopobject_t *device, int node_id, int source_id, int req, int parameters_size, unsigned char *parameters);
1618//PLAYERC_EXPORT int playerc_coopobject_power(playerc_coopobject_t *device, int node_id, int group_id, int value);
1624//PLAYERC_EXPORT int playerc_coopobject_datafreq(playerc_coopobject_t *device, int node_id, int group_id, double frequency);
1666PLAYERC_EXPORT int playerc_dio_set_output(playerc_dio_t *device, uint8_t output_count, uint32_t digout);
1707PLAYERC_EXPORT playerc_fiducial_t *playerc_fiducial_create(playerc_client_t *client, int index);
1824PLAYERC_EXPORT playerc_graphics2d_t *playerc_graphics2d_create(playerc_client_t *client, int index);
1891PLAYERC_EXPORT playerc_graphics3d_t *playerc_graphics3d_create(playerc_client_t *client, int index);
2124PLAYERC_EXPORT playerc_joystick_t *playerc_joystick_create(playerc_client_t *client, int index);
2192 double (*scan)[2];
2357PLAYERC_EXPORT int playerc_limb_setpose_cmd(playerc_limb_t *device, float pX, float pY, float pZ, float aX, float aY, float aZ, float oX, float oY, float oZ);
2361PLAYERC_EXPORT int playerc_limb_setposition_cmd(playerc_limb_t *device, float pX, float pY, float pZ);
2365PLAYERC_EXPORT int playerc_limb_vecmove_cmd(playerc_limb_t *device, float x, float y, float z, float length);
2443PLAYERC_EXPORT playerc_localize_t *playerc_localize_create(playerc_client_t *client, int index);
2455PLAYERC_EXPORT int playerc_localize_set_pose(playerc_localize_t *device, double pose[3], double cov[6]);
2615PLAYERC_EXPORT playerc_vectormap_t *playerc_vectormap_create(playerc_client_t *client, int index);
2630PLAYERC_EXPORT int playerc_vectormap_get_layer_data(playerc_vectormap_t *device, unsigned layer_index);
2633PLAYERC_EXPORT int playerc_vectormap_write_layer(playerc_vectormap_t *device, const player_vectormap_layer_data_t * data);
2640PLAYERC_EXPORT uint8_t * playerc_vectormap_get_feature_data(playerc_vectormap_t *device, unsigned layer_index, unsigned feature_index);
2641PLAYERC_EXPORT size_t playerc_vectormap_get_feature_data_count(playerc_vectormap_t *device, unsigned layer_index, unsigned feature_index);
2689PLAYERC_EXPORT int playerc_opaque_req(playerc_opaque_t *device, player_opaque_data_t *request, player_opaque_data_t **reply);
2735 double (*waypoints)[3];
3180PLAYERC_EXPORT int playerc_ptz_set(playerc_ptz_t *device, double pan, double tilt, double zoom);
3199PLAYERC_EXPORT int playerc_ptz_set_ws(playerc_ptz_t *device, double pan, double tilt, double zoom,
3492PLAYERC_EXPORT playerc_simulation_t *playerc_simulation_create(playerc_client_t *client, int index);
3508PLAYERC_EXPORT int playerc_simulation_get_pose2d(playerc_simulation_t *device, char* identifier,
3517PLAYERC_EXPORT int playerc_simulation_get_pose3d(playerc_simulation_t *device, char* identifier,
3609PLAYERC_EXPORT playerc_speechrecognition_t *playerc_speechrecognition_create(playerc_client_t *client, int index);
3615PLAYERC_EXPORT int playerc_speechrecognition_subscribe(playerc_speechrecognition_t *device, int access);
3699PLAYERC_EXPORT playerc_pointcloud3d_t *playerc_pointcloud3d_create (playerc_client_t *client, int index);
3806PLAYERC_EXPORT int playerc_imu_reset_euler(playerc_imu_t *device, float roll, float pitch, float yaw);
#define PLAYER_MAX_DRIVER_STRING_LEN
Maximum length for a driver name.
Definition player.h:72
#define PLAYER_MAX_DEVICES
The maximum number of devices the server will support.
Definition player.h:74
PLAYERC_EXPORT typedef void(* playerc_putmsg_fn_t)(void *device, char *header, char *data)
Typedef for proxy callback function.
Definition playerc.h:486
PLAYERC_EXPORT playerc_client_t * playerc_client_create(playerc_mclient_t *mclient, const char *host, int port)
Create a client object.
PLAYERC_EXPORT int playerc_client_request(playerc_client_t *client, struct _playerc_device_t *device, uint8_t reqtype, const void *req_data, void **rep_data)
Issue a request to the server and await a reply (blocking).
PLAYERC_EXPORT void playerc_client_destroy(playerc_client_t *client)
Destroy a client object.
PLAYERC_EXPORT int playerc_client_peek(playerc_client_t *client, int timeout)
Test to see if there is pending data.
PLAYERC_EXPORT void * playerc_client_read(playerc_client_t *client)
Read data from the server (blocking).
PLAYERC_EXPORT void playerc_client_set_retry_limit(playerc_client_t *client, int limit)
Set the connection retry limit.
PLAYERC_EXPORT int playerc_client_addcallback(playerc_client_t *client, struct _playerc_device_t *device, playerc_callback_fn_t callback, void *data)
Add user callbacks (called when new data arrives).
PLAYERC_EXPORT int playerc_client_subscribe(playerc_client_t *client, int code, int index, int access, char *drivername, size_t len)
Subscribe a device.
PLAYERC_EXPORT int playerc_client_connect(playerc_client_t *client)
Connect to the server.
PLAYERC_EXPORT int playerc_client_set_replace_rule(playerc_client_t *client, int interf, int index, int type, int subtype, int replace)
Set a replace rule for the client queue on the server.
PLAYERC_EXPORT int playerc_client_disconnect(playerc_client_t *client)
Disconnect from the server.
PLAYERC_EXPORT int playerc_client_adddevice(playerc_client_t *client, struct _playerc_device_t *device)
Add a device proxy.
PLAYERC_EXPORT int playerc_client_get_devlist(playerc_client_t *client)
Get the list of available device ids.
PLAYERC_EXPORT int playerc_client_write(playerc_client_t *client, struct _playerc_device_t *device, uint8_t subtype, void *cmd, double *timestamp)
Write data to the server.
PLAYERC_EXPORT void playerc_client_set_transport(playerc_client_t *client, unsigned int transport)
Set the transport type.
PLAYERC_EXPORT int playerc_client_read_nonblock_withproxy(playerc_client_t *client, void **proxy)
Read and process a packet (nonblocking), fills in pointer to proxy that got data.
PLAYERC_EXPORT int playerc_client_delcallback(playerc_client_t *client, struct _playerc_device_t *device, playerc_callback_fn_t callback, void *data)
Remove user callbacks (called when new data arrives).
PLAYERC_EXPORT int playerc_client_deldevice(playerc_client_t *client, struct _playerc_device_t *device)
Remove a device proxy.
PLAYERC_EXPORT int playerc_client_read_nonblock(playerc_client_t *client)
Read and process a packet (nonblocking)
PLAYERC_EXPORT int playerc_client_unsubscribe(playerc_client_t *client, int code, int index)
Unsubscribe a device.
PLAYERC_EXPORT int playerc_client_datamode(playerc_client_t *client, uint8_t mode)
Change the server's data delivery mode.
PLAYERC_EXPORT int playerc_client_internal_peek(playerc_client_t *client, int timeout)
Test to see if there is pending data.
PLAYERC_EXPORT void playerc_client_set_request_timeout(playerc_client_t *client, uint32_t seconds)
Set the timeout for client requests.
PLAYERC_EXPORT int playerc_client_requestdata(playerc_client_t *client)
Request a round of data.
PLAYERC_EXPORT typedef void(* playerc_callback_fn_t)(void *data)
Typedef for proxy callback function.
Definition playerc.h:489
PLAYERC_EXPORT void playerc_client_set_retry_time(playerc_client_t *client, double time)
Set the connection retry sleep time.
PLAYERC_EXPORT int playerc_client_disconnect_retry(playerc_client_t *client)
Disconnect from the server, with potential retry.
PLAYERC_EXPORT int playerc_device_set_strprop(playerc_device_t *device, char *property, char *value)
Set a string property.
PLAYERC_EXPORT int playerc_device_unsubscribe(playerc_device_t *device)
Unsubscribe the device.
PLAYERC_EXPORT int playerc_device_get_boolprop(playerc_device_t *device, char *property, BOOL *value)
Request a boolean property.
PLAYERC_EXPORT int playerc_device_get_intprop(playerc_device_t *device, char *property, int32_t *value)
Request an integer property.
PLAYERC_EXPORT int playerc_device_get_strprop(playerc_device_t *device, char *property, char **value)
Request a string property.
PLAYERC_EXPORT int playerc_device_set_intprop(playerc_device_t *device, char *property, int32_t value)
Set an integer property.
PLAYERC_EXPORT int playerc_device_set_boolprop(playerc_device_t *device, char *property, BOOL value)
Set a boolean property.
PLAYERC_EXPORT void playerc_device_term(playerc_device_t *device)
Finalize the device.
PLAYERC_EXPORT void playerc_device_init(playerc_device_t *device, playerc_client_t *client, int code, int index, playerc_putmsg_fn_t putmsg)
Initialise the device.
PLAYERC_EXPORT int playerc_device_hascapability(playerc_device_t *device, uint32_t type, uint32_t subtype)
Request capabilities of device.
PLAYERC_EXPORT int playerc_device_set_dblprop(playerc_device_t *device, char *property, double value)
Set a double property.
PLAYERC_EXPORT int playerc_device_subscribe(playerc_device_t *device, int access)
Subscribe the device.
PLAYERC_EXPORT int playerc_device_get_dblprop(playerc_device_t *device, char *property, double *value)
Request a double property.
PLAYERC_EXPORT int playerc_actarray_unsubscribe(playerc_actarray_t *device)
Un-subscribe from the actarray device.
PLAYERC_EXPORT int playerc_actarray_position_cmd(playerc_actarray_t *device, int joint, float position)
Command a joint in the array to move to a specified position.
PLAYERC_EXPORT int playerc_actarray_power(playerc_actarray_t *device, uint8_t enable)
Turn the power to the array on or off.
PLAYERC_EXPORT void playerc_actarray_destroy(playerc_actarray_t *device)
Destroy an actarray proxy.
PLAYERC_EXPORT int playerc_actarray_get_geom(playerc_actarray_t *device)
Get the actarray geometry.
PLAYERC_EXPORT int playerc_actarray_brakes(playerc_actarray_t *device, uint8_t enable)
Turn the brakes of all actuators in the array that have them on or off.
PLAYERC_EXPORT player_actarray_actuator_t playerc_actarray_get_actuator_data(playerc_actarray_t *device, uint32_t index)
Accessor method for the actuator data.
PLAYERC_EXPORT playerc_actarray_t * playerc_actarray_create(playerc_client_t *client, int index)
Create an actarray proxy.
PLAYERC_EXPORT int playerc_actarray_multi_current_cmd(playerc_actarray_t *device, float *currents, int currents_count)
Command all joints in the array to move with specified currents.
PLAYERC_EXPORT player_actarray_actuatorgeom_t playerc_actarray_get_actuator_geom(playerc_actarray_t *device, uint32_t index)
Accessor method for the actuator geom.
PLAYERC_EXPORT int playerc_actarray_current_cmd(playerc_actarray_t *device, int joint, float current)
Command a joint in the array to move with a specified current.
PLAYERC_EXPORT int playerc_actarray_speed_cmd(playerc_actarray_t *device, int joint, float speed)
Command a joint in the array to move at a specified speed.
PLAYERC_EXPORT int playerc_actarray_multi_speed_cmd(playerc_actarray_t *device, float *speeds, int speeds_count)
Command a joint in the array to move at a specified speed.
PLAYERC_EXPORT int playerc_actarray_multi_position_cmd(playerc_actarray_t *device, float *positions, int positions_count)
Command all joints in the array to move to specified positions.
PLAYERC_EXPORT int playerc_actarray_subscribe(playerc_actarray_t *device, int access)
Subscribe to the actarray device.
PLAYERC_EXPORT int playerc_actarray_speed_config(playerc_actarray_t *device, int joint, float speed)
Set the speed of a joint (-1 for all joints) for all subsequent movement commands.
PLAYERC_EXPORT int playerc_actarray_home_cmd(playerc_actarray_t *device, int joint)
Command a joint (or, if joint is -1, the whole array) to go to its home position.
PLAYERC_EXPORT int playerc_aio_set_output(playerc_aio_t *device, uint8_t id, float volt)
Set the output for the aio device.
PLAYERC_EXPORT float playerc_aio_get_data(playerc_aio_t *device, uint32_t index)
get the aio data
PLAYERC_EXPORT playerc_aio_t * playerc_aio_create(playerc_client_t *client, int index)
Create a aio proxy.
PLAYERC_EXPORT void playerc_aio_destroy(playerc_aio_t *device)
Destroy a aio proxy.
PLAYERC_EXPORT int playerc_aio_unsubscribe(playerc_aio_t *device)
Un-subscribe from the aio device.
PLAYERC_EXPORT int playerc_aio_subscribe(playerc_aio_t *device, int access)
Subscribe to the aio device.
PLAYERC_EXPORT int playerc_audio_mixer_multchannels_cmd(playerc_audio_t *device, player_audio_mixer_channel_list_t *levels)
Command to set mixer levels for multiple channels.
PLAYERC_EXPORT playerc_audio_t * playerc_audio_create(playerc_client_t *client, int index)
Create an audio proxy.
PLAYERC_EXPORT int playerc_audio_wav_rec(playerc_audio_t *device)
Request to record a single audio block Value is returned into wav_data, block length is determined by...
PLAYERC_EXPORT int playerc_audio_subscribe(playerc_audio_t *device, int access)
Subscribe to the audio device.
PLAYERC_EXPORT int playerc_audio_sample_retrieve(playerc_audio_t *device, int index)
Request to retrieve an audio sample Data is stored in wav_data.
PLAYERC_EXPORT int playerc_audio_get_mixer_details(playerc_audio_t *device)
Request mixer channel details list result is stored in channel_details_list.
PLAYERC_EXPORT int playerc_audio_unsubscribe(playerc_audio_t *device)
Un-subscribe from the audio device.
PLAYERC_EXPORT int playerc_audio_wav_stream_rec_cmd(playerc_audio_t *device, uint8_t state)
Command to set recording state.
PLAYERC_EXPORT int playerc_audio_wav_play_cmd(playerc_audio_t *device, uint32_t data_count, uint8_t data[], uint32_t format)
Command to play an audio block.
PLAYERC_EXPORT int playerc_audio_mixer_channel_cmd(playerc_audio_t *device, uint32_t index, float amplitude, uint8_t active)
Command to set mixer levels for a single channel.
PLAYERC_EXPORT int playerc_audio_get_mixer_levels(playerc_audio_t *device)
Request mixer channel data result is stored in mixer_data.
PLAYERC_EXPORT int playerc_audio_sample_play_cmd(playerc_audio_t *device, int index)
Command to play prestored sample.
PLAYERC_EXPORT int playerc_audio_seq_play_cmd(playerc_audio_t *device, player_audio_seq_t *tones)
Command to play sequence of tones.
PLAYERC_EXPORT void playerc_audio_destroy(playerc_audio_t *device)
Destroy an audio proxy.
PLAYERC_EXPORT int playerc_audio_sample_load(playerc_audio_t *device, int index, uint32_t data_count, uint8_t data[], uint32_t format)
Request to load an audio sample.
PLAYERC_EXPORT int playerc_audio_sample_rec(playerc_audio_t *device, int index, uint32_t length)
Request to record new sample.
PLAYERC_EXPORT int playerc_blackboard_subscribe(playerc_blackboard_t *device, int access)
Subscribe to the blackboard device.
PLAYERC_EXPORT int playerc_blackboard_unsubscribe(playerc_blackboard_t *device)
Un-subscribe from the blackboard device.
PLAYERC_EXPORT int playerc_blackboard_subscribe_to_group(playerc_blackboard_t *device, const char *group)
Subscribe to a group.
PLAYERC_EXPORT int playerc_blackboard_unsubscribe_from_key(playerc_blackboard_t *device, const char *key, const char *group)
Unsubscribe from a key.
PLAYERC_EXPORT int playerc_blackboard_get_entry(playerc_blackboard_t *device, const char *key, const char *group, player_blackboard_entry_t **entry)
Get the current value of a key, without subscribing.
PLAYERC_EXPORT int playerc_blackboard_subscribe_to_key(playerc_blackboard_t *device, const char *key, const char *group, player_blackboard_entry_t **entry)
Subscribe to a key.
PLAYERC_EXPORT int playerc_blackboard_unsubscribe_from_group(playerc_blackboard_t *device, const char *group)
Unsubscribe from a group.
PLAYERC_EXPORT void playerc_blackboard_destroy(playerc_blackboard_t *device)
Destroy a blackboard proxy.
PLAYERC_EXPORT int playerc_blackboard_set_entry(playerc_blackboard_t *device, player_blackboard_entry_t *entry)
Set an entry value.
PLAYERC_EXPORT playerc_blackboard_t * playerc_blackboard_create(playerc_client_t *client, int index)
Create a blackboard proxy.
PLAYERC_EXPORT playerc_blinkenlight_t * playerc_blinkenlight_create(playerc_client_t *client, int index)
Create a blinkenlight proxy.
PLAYERC_EXPORT int playerc_blinkenlight_subscribe(playerc_blinkenlight_t *device, int access)
Subscribe to the blinkenlight device.
PLAYERC_EXPORT int playerc_blinkenlight_color(playerc_blinkenlight_t *device, uint32_t id, uint8_t red, uint8_t green, uint8_t blue)
Set the output color for the blinkenlight device.
PLAYERC_EXPORT int playerc_blinkenlight_unsubscribe(playerc_blinkenlight_t *device)
Un-subscribe from the blinkenlight device.
PLAYERC_EXPORT int playerc_blinkenlight_enable(playerc_blinkenlight_t *device, uint32_t enable)
Enable/disable power to the blinkenlight device.
PLAYERC_EXPORT int playerc_blinkenlight_blink(playerc_blinkenlight_t *device, uint32_t id, float period, float duty_cycle)
Make the light blink, setting the period in seconds and the mark/space ratiom (0.0 to 1....
PLAYERC_EXPORT void playerc_blinkenlight_destroy(playerc_blinkenlight_t *device)
Destroy a blinkenlight proxy.
PLAYERC_EXPORT int playerc_blobfinder_unsubscribe(playerc_blobfinder_t *device)
Un-subscribe from the blobfinder device.
PLAYERC_EXPORT int playerc_blobfinder_subscribe(playerc_blobfinder_t *device, int access)
Subscribe to the blobfinder device.
PLAYERC_EXPORT void playerc_blobfinder_destroy(playerc_blobfinder_t *device)
Destroy a blobfinder proxy.
PLAYERC_EXPORT playerc_blobfinder_t * playerc_blobfinder_create(playerc_client_t *client, int index)
Create a blobfinder proxy.
PLAYERC_EXPORT playerc_bumper_t * playerc_bumper_create(playerc_client_t *client, int index)
Create a bumper proxy.
PLAYERC_EXPORT int playerc_bumper_get_geom(playerc_bumper_t *device)
Get the bumper geometry.
PLAYERC_EXPORT int playerc_bumper_subscribe(playerc_bumper_t *device, int access)
Subscribe to the bumper device.
PLAYERC_EXPORT void playerc_bumper_destroy(playerc_bumper_t *device)
Destroy a bumper proxy.
PLAYERC_EXPORT int playerc_bumper_unsubscribe(playerc_bumper_t *device)
Un-subscribe from the bumper device.
PLAYERC_EXPORT void playerc_camera_decompress(playerc_camera_t *device)
Decompress the image (modifies the current proxy data).
PLAYERC_EXPORT int playerc_camera_set_source(playerc_camera_t *device, int source, const char *norm)
Set source channel.
PLAYERC_EXPORT unsigned playerc_camera_get_pixel_component(playerc_camera_t *device, unsigned int x, unsigned int y, int component)
Get given component of given pixel.
PLAYERC_EXPORT void playerc_camera_copy_image(playerc_camera_t *device, void *dst, size_t dst_size)
Copy image to some pre-allocated place.
PLAYERC_EXPORT int playerc_camera_get_source(playerc_camera_t *device)
Get source channel (sets norm and source fields in the current proxy data).
PLAYERC_EXPORT void playerc_camera_save(playerc_camera_t *device, const char *filename)
Saves the image to disk as a .ppm.
PLAYERC_EXPORT int playerc_camera_unsubscribe(playerc_camera_t *device)
Un-subscribe from the camera device.
PLAYERC_EXPORT int playerc_camera_subscribe(playerc_camera_t *device, int access)
Subscribe to the camera device.
PLAYERC_EXPORT playerc_camera_t * playerc_camera_create(playerc_client_t *client, int index)
Create a camera proxy.
PLAYERC_EXPORT void playerc_camera_destroy(playerc_camera_t *device)
Destroy a camera proxy.
PLAYERC_EXPORT int playerc_camera_get_image(playerc_camera_t *device)
Force to get current image.
PLAYERC_EXPORT playerc_coopobject_t * playerc_coopobject_create(playerc_client_t *client, int index)
Create a cooperating object proxy.
PLAYERC_EXPORT int playerc_coopobject_send_position(playerc_coopobject_t *device, uint16_t node_id, uint16_t source_id, player_pose2d_t pos, uint8_t status)
Send data to cooperating object.
PLAYERC_EXPORT int playerc_coopobject_send_cmd(playerc_coopobject_t *device, int node_id, int source_id, int cmd, int parameters_size, unsigned char *parameters)
Send command to cooperating object.
PLAYERC_EXPORT int playerc_coopobject_unsubscribe(playerc_coopobject_t *device)
Un-subscribe from the cooperating object device.
PLAYERC_EXPORT int playerc_coopobject_send_data(playerc_coopobject_t *device, int node_id, int source_id, int data_type, int data_size, unsigned char *extradata)
Send data to cooperating object.
PLAYERC_EXPORT int playerc_coopobject_subscribe(playerc_coopobject_t *device, int access)
Subscribe to the cooperating object device.
PLAYERC_EXPORT int playerc_coopobject_send_req(playerc_coopobject_t *device, int node_id, int source_id, int req, int parameters_size, unsigned char *parameters)
Send request to cooperating object.
PLAYERC_EXPORT void playerc_coopobject_destroy(playerc_coopobject_t *device)
Destroy a cooperating object proxy.
PLAYERC_EXPORT int playerc_dio_unsubscribe(playerc_dio_t *device)
Un-subscribe from the dio device.
PLAYERC_EXPORT int playerc_dio_set_output(playerc_dio_t *device, uint8_t output_count, uint32_t digout)
Set the output for the dio device.
PLAYERC_EXPORT void playerc_dio_destroy(playerc_dio_t *device)
Destroy a dio proxy.
PLAYERC_EXPORT int playerc_dio_subscribe(playerc_dio_t *device, int access)
Subscribe to the dio device.
PLAYERC_EXPORT playerc_dio_t * playerc_dio_create(playerc_client_t *client, int index)
Create a dio proxy.
PLAYERC_EXPORT int playerc_fiducial_get_geom(playerc_fiducial_t *device)
Get the fiducial geometry.
PLAYERC_EXPORT int playerc_fiducial_subscribe(playerc_fiducial_t *device, int access)
Subscribe to the fiducial device.
PLAYERC_EXPORT void playerc_fiducial_destroy(playerc_fiducial_t *device)
Destroy a fiducial proxy.
PLAYERC_EXPORT playerc_fiducial_t * playerc_fiducial_create(playerc_client_t *client, int index)
Create a fiducial proxy.
PLAYERC_EXPORT int playerc_fiducial_unsubscribe(playerc_fiducial_t *device)
Un-subscribe from the fiducial device.
PLAYERC_EXPORT int playerc_gps_unsubscribe(playerc_gps_t *device)
Un-subscribe from the gps device.
PLAYERC_EXPORT int playerc_gps_subscribe(playerc_gps_t *device, int access)
Subscribe to the gps device.
PLAYERC_EXPORT playerc_gps_t * playerc_gps_create(playerc_client_t *client, int index)
Create a gps proxy.
PLAYERC_EXPORT void playerc_gps_destroy(playerc_gps_t *device)
Destroy a gps proxy.
PLAYERC_EXPORT int playerc_graphics2d_draw_points(playerc_graphics2d_t *device, player_point_2d_t pts[], int count)
Draw some points.
PLAYERC_EXPORT int playerc_graphics2d_subscribe(playerc_graphics2d_t *device, int access)
Subscribe to the graphics2d device.
PLAYERC_EXPORT int playerc_graphics2d_draw_multiline(playerc_graphics2d_t *device, player_point_2d_t pts[], int count)
Draw a set of lines whose end points are at pts[2n] and pts[2n+1].
PLAYERC_EXPORT void playerc_graphics2d_destroy(playerc_graphics2d_t *device)
Destroy a graphics2d device proxy.
PLAYERC_EXPORT int playerc_graphics2d_clear(playerc_graphics2d_t *device)
Clear the canvas.
PLAYERC_EXPORT playerc_graphics2d_t * playerc_graphics2d_create(playerc_client_t *client, int index)
Create a graphics2d device proxy.
PLAYERC_EXPORT int playerc_graphics2d_draw_polygon(playerc_graphics2d_t *device, player_point_2d_t pts[], int count, int filled, player_color_t fill_color)
Draw a polygon.
PLAYERC_EXPORT int playerc_graphics2d_draw_polyline(playerc_graphics2d_t *device, player_point_2d_t pts[], int count)
Draw a polyline that connects an array of points.
PLAYERC_EXPORT int playerc_graphics2d_setcolor(playerc_graphics2d_t *device, player_color_t col)
Set the current drawing color.
PLAYERC_EXPORT int playerc_graphics2d_unsubscribe(playerc_graphics2d_t *device)
Un-subscribe from the graphics2d device.
PLAYERC_EXPORT playerc_graphics3d_t * playerc_graphics3d_create(playerc_client_t *client, int index)
Create a graphics3d device proxy.
PLAYERC_EXPORT void playerc_graphics3d_destroy(playerc_graphics3d_t *device)
Destroy a graphics3d device proxy.
PLAYERC_EXPORT int playerc_graphics3d_setcolor(playerc_graphics3d_t *device, player_color_t col)
Set the current drawing color.
PLAYERC_EXPORT int playerc_graphics3d_unsubscribe(playerc_graphics3d_t *device)
Un-subscribe from the graphics3d device.
PLAYERC_EXPORT int playerc_graphics3d_draw(playerc_graphics3d_t *device, player_graphics3d_draw_mode_t mode, player_point_3d_t pts[], int count)
Draw some points in the given mode.
PLAYERC_EXPORT int playerc_graphics3d_clear(playerc_graphics3d_t *device)
Clear the canvas.
PLAYERC_EXPORT int playerc_graphics3d_subscribe(playerc_graphics3d_t *device, int access)
Subscribe to the graphics3d device.
PLAYERC_EXPORT int playerc_graphics3d_rotate(playerc_graphics3d_t *device, double a, double x, double y, double z)
Rotate the drawing coordinate system by [a] radians about the vector described by [x,...
PLAYERC_EXPORT int playerc_graphics3d_translate(playerc_graphics3d_t *device, double x, double y, double z)
Translate the drawing coordinate system in 3d.
PLAYERC_EXPORT int playerc_gripper_retrieve_cmd(playerc_gripper_t *device)
Command the gripper to retrieve.
PLAYERC_EXPORT void playerc_gripper_destroy(playerc_gripper_t *device)
Destroy a gripper device proxy.
PLAYERC_EXPORT int playerc_gripper_unsubscribe(playerc_gripper_t *device)
Un-subscribe from the gripper device.
PLAYERC_EXPORT int playerc_gripper_subscribe(playerc_gripper_t *device, int access)
Subscribe to the gripper device.
PLAYERC_EXPORT int playerc_gripper_store_cmd(playerc_gripper_t *device)
Command the gripper to store.
PLAYERC_EXPORT playerc_gripper_t * playerc_gripper_create(playerc_client_t *client, int index)
Create a gripper device proxy.
PLAYERC_EXPORT int playerc_gripper_stop_cmd(playerc_gripper_t *device)
Command the gripper to stop.
PLAYERC_EXPORT void playerc_gripper_printout(playerc_gripper_t *device, const char *prefix)
Print a human-readable version of the gripper state.
PLAYERC_EXPORT int playerc_gripper_open_cmd(playerc_gripper_t *device)
Command the gripper to open.
PLAYERC_EXPORT int playerc_gripper_close_cmd(playerc_gripper_t *device)
Command the gripper to close.
PLAYERC_EXPORT int playerc_gripper_get_geom(playerc_gripper_t *device)
Get the gripper geometry.
PLAYERC_EXPORT int playerc_health_subscribe(playerc_health_t *device, int access)
Subscribe to the health device.
PLAYERC_EXPORT playerc_health_t * playerc_health_create(playerc_client_t *client, int index)
Create a health proxy.
PLAYERC_EXPORT int playerc_health_unsubscribe(playerc_health_t *device)
Un-subscribe from the health device.
PLAYERC_EXPORT void playerc_health_destroy(playerc_health_t *device)
Destroy a health proxy.
PLAYERC_EXPORT int playerc_imu_reset_orientation(playerc_imu_t *device, int value)
Reset orientation.
PLAYERC_EXPORT int playerc_imu_datatype(playerc_imu_t *device, int value)
Change the data type to one of the predefined data structures.
PLAYERC_EXPORT int playerc_imu_reset_euler(playerc_imu_t *device, float roll, float pitch, float yaw)
Reset euler orientation.
PLAYERC_EXPORT int playerc_imu_unsubscribe(playerc_imu_t *device)
Un-subscribe from the imu device.
PLAYERC_EXPORT void playerc_imu_destroy(playerc_imu_t *device)
Destroy a imu proxy.
PLAYERC_EXPORT playerc_imu_t * playerc_imu_create(playerc_client_t *client, int index)
Create a imu proxy.
PLAYERC_EXPORT int playerc_imu_subscribe(playerc_imu_t *device, int access)
Subscribe to the imu device.
PLAYERC_EXPORT playerc_ir_t * playerc_ir_create(playerc_client_t *client, int index)
Create a ir proxy.
PLAYERC_EXPORT int playerc_ir_unsubscribe(playerc_ir_t *device)
Un-subscribe from the ir device.
PLAYERC_EXPORT int playerc_ir_subscribe(playerc_ir_t *device, int access)
Subscribe to the ir device.
PLAYERC_EXPORT void playerc_joystick_destroy(playerc_joystick_t *device)
Destroy a joystick proxy.
PLAYERC_EXPORT int playerc_joystick_unsubscribe(playerc_joystick_t *device)
Un-subscribe from the joystick device.
PLAYERC_EXPORT playerc_joystick_t * playerc_joystick_create(playerc_client_t *client, int index)
Create a joystick proxy.
PLAYERC_EXPORT int playerc_joystick_subscribe(playerc_joystick_t *device, int access)
Subscribe to the joystick device.
PLAYERC_EXPORT int playerc_laser_get_geom(playerc_laser_t *device)
Get the laser geometry.
PLAYERC_EXPORT void playerc_laser_printout(playerc_laser_t *device, const char *prefix)
Print a human-readable summary of the laser state on stdout.
PLAYERC_EXPORT int playerc_laser_get_config(playerc_laser_t *device, double *min_angle, double *max_angle, double *resolution, double *range_res, unsigned char *intensity, double *scanning_frequency)
Get the laser configuration.
PLAYERC_EXPORT playerc_laser_t * playerc_laser_create(playerc_client_t *client, int index)
Create a laser proxy.
PLAYERC_EXPORT int playerc_laser_set_config(playerc_laser_t *device, double min_angle, double max_angle, double resolution, double range_res, unsigned char intensity, double scanning_frequency)
Configure the laser.
PLAYERC_EXPORT int playerc_laser_subscribe(playerc_laser_t *device, int access)
Subscribe to the laser device.
PLAYERC_EXPORT void playerc_laser_destroy(playerc_laser_t *device)
Destroy a laser proxy.
PLAYERC_EXPORT int playerc_laser_unsubscribe(playerc_laser_t *device)
Un-subscribe from the laser device.
PLAYERC_EXPORT int playerc_laser_get_id(playerc_laser_t *device)
Get the laser IDentification information.
PLAYERC_EXPORT int playerc_limb_speed_config(playerc_limb_t *device, float speed)
Set the speed of the end effector (m/s) for all subsequent movement commands.
PLAYERC_EXPORT void playerc_limb_destroy(playerc_limb_t *device)
Destroy a limb proxy.
PLAYERC_EXPORT int playerc_limb_brakes(playerc_limb_t *device, uint32_t enable)
Turn the brakes of all actuators in the limb that have them on or off.
PLAYERC_EXPORT int playerc_limb_power(playerc_limb_t *device, uint32_t enable)
Turn the power to the limb on or off.
PLAYERC_EXPORT int playerc_limb_vecmove_cmd(playerc_limb_t *device, float x, float y, float z, float length)
Command the end effector to move along the provided vector from its current position for the provided...
PLAYERC_EXPORT int playerc_limb_home_cmd(playerc_limb_t *device)
Command the end effector to move home.
PLAYERC_EXPORT int playerc_limb_subscribe(playerc_limb_t *device, int access)
Subscribe to the limb device.
PLAYERC_EXPORT int playerc_limb_stop_cmd(playerc_limb_t *device)
Command the end effector to stop immediatly.
PLAYERC_EXPORT playerc_limb_t * playerc_limb_create(playerc_client_t *client, int index)
Create a limb proxy.
PLAYERC_EXPORT int playerc_limb_setpose_cmd(playerc_limb_t *device, float pX, float pY, float pZ, float aX, float aY, float aZ, float oX, float oY, float oZ)
Command the end effector to move to a specified pose.
PLAYERC_EXPORT int playerc_limb_get_geom(playerc_limb_t *device)
Get the limb geometry.
PLAYERC_EXPORT int playerc_limb_unsubscribe(playerc_limb_t *device)
Un-subscribe from the limb device.
PLAYERC_EXPORT int playerc_limb_setposition_cmd(playerc_limb_t *device, float pX, float pY, float pZ)
Command the end effector to move to a specified position (ignoring approach and orientation vectors).
struct playerc_localize_particle playerc_localize_particle_t
Hypothesis data.
PLAYERC_EXPORT int playerc_localize_unsubscribe(playerc_localize_t *device)
Un-subscribe from the localize device.
PLAYERC_EXPORT playerc_localize_t * playerc_localize_create(playerc_client_t *client, int index)
Create a localize proxy.
PLAYERC_EXPORT int playerc_localize_subscribe(playerc_localize_t *device, int access)
Subscribe to the localize device.
PLAYERC_EXPORT int playerc_localize_get_particles(playerc_localize_t *device)
Request the particle set.
PLAYERC_EXPORT int playerc_localize_set_pose(playerc_localize_t *device, double pose[3], double cov[6])
Set the the robot pose (mean and covariance).
PLAYERC_EXPORT void playerc_localize_destroy(playerc_localize_t *device)
Destroy a localize proxy.
PLAYERC_EXPORT playerc_log_t * playerc_log_create(playerc_client_t *client, int index)
Create a log proxy.
PLAYERC_EXPORT int playerc_log_subscribe(playerc_log_t *device, int access)
Subscribe to the log device.
PLAYERC_EXPORT int playerc_log_set_write_state(playerc_log_t *device, int state)
Start/stop logging.
PLAYERC_EXPORT int playerc_log_set_read_state(playerc_log_t *device, int state)
Start/stop playback.
PLAYERC_EXPORT int playerc_log_set_filename(playerc_log_t *device, const char *fname)
Change name of log file to write to.
PLAYERC_EXPORT int playerc_log_unsubscribe(playerc_log_t *device)
Un-subscribe from the log device.
PLAYERC_EXPORT int playerc_log_get_state(playerc_log_t *device)
Get logging/playback state.
PLAYERC_EXPORT int playerc_log_set_read_rewind(playerc_log_t *device)
Rewind playback.
PLAYERC_EXPORT void playerc_log_destroy(playerc_log_t *device)
Destroy a log proxy.
PLAYERC_EXPORT int playerc_map_subscribe(playerc_map_t *device, int access)
Subscribe to the map device.
PLAYERC_EXPORT int playerc_map_unsubscribe(playerc_map_t *device)
Un-subscribe from the map device.
PLAYERC_EXPORT void playerc_map_destroy(playerc_map_t *device)
Destroy a map proxy.
PLAYERC_EXPORT int playerc_map_get_vector(playerc_map_t *device)
Get the vector map, which is stored in the proxy.
PLAYERC_EXPORT playerc_map_t * playerc_map_create(playerc_client_t *client, int index)
Create a map proxy.
PLAYERC_EXPORT int playerc_map_get_map(playerc_map_t *device)
Get the map, which is stored in the proxy.
PLAYERC_EXPORT int playerc_opaque_subscribe(playerc_opaque_t *device, int access)
Subscribe to the opaque device.
PLAYERC_EXPORT int playerc_opaque_cmd(playerc_opaque_t *device, player_opaque_data_t *data)
Send a generic command.
PLAYERC_EXPORT int playerc_opaque_req(playerc_opaque_t *device, player_opaque_data_t *request, player_opaque_data_t **reply)
Send a generic request.
PLAYERC_EXPORT playerc_opaque_t * playerc_opaque_create(playerc_client_t *client, int index)
Create an opaque device proxy.
PLAYERC_EXPORT void playerc_opaque_destroy(playerc_opaque_t *device)
Destroy an opaque device proxy.
PLAYERC_EXPORT int playerc_opaque_unsubscribe(playerc_opaque_t *device)
Un-subscribe from the opaque device.
PLAYERC_EXPORT playerc_planner_t * playerc_planner_create(playerc_client_t *client, int index)
Create a planner device proxy.
PLAYERC_EXPORT int playerc_planner_enable(playerc_planner_t *device, int state)
Enable / disable the robot's motion.
PLAYERC_EXPORT int playerc_planner_get_waypoints(playerc_planner_t *device)
Get the list of waypoints.
PLAYERC_EXPORT int playerc_planner_subscribe(playerc_planner_t *device, int access)
Subscribe to the planner device.
PLAYERC_EXPORT void playerc_planner_destroy(playerc_planner_t *device)
Destroy a planner device proxy.
PLAYERC_EXPORT int playerc_planner_set_cmd_pose(playerc_planner_t *device, double gx, double gy, double ga)
Set the goal pose (gx, gy, ga)
PLAYERC_EXPORT int playerc_planner_unsubscribe(playerc_planner_t *device)
Un-subscribe from the planner device.
PLAYERC_EXPORT int playerc_planner_set_cmd_start(playerc_planner_t *device, double sx, double sy, double sa)
Set the start pose (sx, sy, sa)
PLAYERC_EXPORT int playerc_pointcloud3d_subscribe(playerc_pointcloud3d_t *device, int access)
Subscribe to the pointcloud3d device.
PLAYERC_EXPORT void playerc_pointcloud3d_destroy(playerc_pointcloud3d_t *device)
Destroy a pointcloud3d proxy.
player_pointcloud3d_element_t playerc_pointcloud3d_element_t
Structure describing a single 3D pointcloud element.
Definition playerc.h:3682
PLAYERC_EXPORT playerc_pointcloud3d_t * playerc_pointcloud3d_create(playerc_client_t *client, int index)
Create a pointcloud3d proxy.
PLAYERC_EXPORT int playerc_pointcloud3d_unsubscribe(playerc_pointcloud3d_t *device)
Un-subscribe from the pointcloud3d device.
PLAYERC_EXPORT int playerc_position1d_set_cmd_pos(playerc_position1d_t *device, double pos, int state)
Set the target position.
PLAYERC_EXPORT int playerc_position1d_set_cmd_vel(playerc_position1d_t *device, double vel, int state)
Set the target speed.
PLAYERC_EXPORT int playerc_position1d_set_odom(playerc_position1d_t *device, double odom)
Set the odometry offset.
PLAYERC_EXPORT playerc_position1d_t * playerc_position1d_create(playerc_client_t *client, int index)
Create a position1d device proxy.
PLAYERC_EXPORT int playerc_position1d_enable(playerc_position1d_t *device, int enable)
Enable/disable the motors.
PLAYERC_EXPORT int playerc_position1d_subscribe(playerc_position1d_t *device, int access)
Subscribe to the position1d device.
PLAYERC_EXPORT int playerc_position1d_get_geom(playerc_position1d_t *device)
Get the position1d geometry.
PLAYERC_EXPORT int playerc_position1d_set_cmd_pos_with_vel(playerc_position1d_t *device, double pos, double vel, int state)
Set the target position with movement velocity -.
PLAYERC_EXPORT void playerc_position1d_destroy(playerc_position1d_t *device)
Destroy a position1d device proxy.
PLAYERC_EXPORT int playerc_position1d_unsubscribe(playerc_position1d_t *device)
Un-subscribe from the position1d device.
PLAYERC_EXPORT int playerc_position2d_set_cmd_car(playerc_position2d_t *device, double vx, double a)
Set the target cmd for car like position.
PLAYERC_EXPORT int playerc_position2d_get_geom(playerc_position2d_t *device)
Get the position2d geometry.
PLAYERC_EXPORT playerc_position2d_t * playerc_position2d_create(playerc_client_t *client, int index)
Create a position2d device proxy.
PLAYERC_EXPORT int playerc_position2d_subscribe(playerc_position2d_t *device, int access)
Subscribe to the position2d device.
PLAYERC_EXPORT int playerc_position2d_set_odom(playerc_position2d_t *device, double ox, double oy, double oa)
Set the odometry offset.
PLAYERC_EXPORT int playerc_position2d_set_cmd_vel_head(playerc_position2d_t *device, double vx, double vy, double pa, int state)
Set the target speed and heading.
PLAYERC_EXPORT int playerc_position2d_unsubscribe(playerc_position2d_t *device)
Un-subscribe from the position2d device.
PLAYERC_EXPORT void playerc_position2d_destroy(playerc_position2d_t *device)
Destroy a position2d device proxy.
PLAYERC_EXPORT int playerc_position2d_enable(playerc_position2d_t *device, int enable)
Enable/disable the motors.
PLAYERC_EXPORT int playerc_position2d_set_cmd_vel(playerc_position2d_t *device, double vx, double vy, double va, int state)
Set the target speed.
PLAYERC_EXPORT int playerc_position2d_set_cmd_pose_with_vel(playerc_position2d_t *device, player_pose2d_t pos, player_pose2d_t vel, int state)
Set the target pose with given motion vel.
PLAYERC_EXPORT int playerc_position2d_set_cmd_pose(playerc_position2d_t *device, double gx, double gy, double ga, int state)
Set the target pose (gx, gy, ga) is the target pose in the odometric coordinate system.
PLAYERC_EXPORT int playerc_position3d_set_vel_mode(playerc_position3d_t *device, int mode)
Set the velocity mode.
PLAYERC_EXPORT int playerc_position3d_unsubscribe(playerc_position3d_t *device)
Un-subscribe from the position3d device.
PLAYERC_EXPORT int playerc_position3d_get_geom(playerc_position3d_t *device)
Get the position3d geometry.
PLAYERC_EXPORT int playerc_position3d_reset_odom(playerc_position3d_t *device)
Reset the odometry offset.
PLAYERC_EXPORT int playerc_position3d_subscribe(playerc_position3d_t *device, int access)
Subscribe to the position3d device.
PLAYERC_EXPORT int playerc_position3d_set_pose_with_vel(playerc_position3d_t *device, player_pose3d_t pos, player_pose3d_t vel)
Set the target pose (pos,vel) define desired position and motion speed.
PLAYERC_EXPORT int playerc_position3d_set_velocity(playerc_position3d_t *device, double vx, double vy, double vz, double vr, double vp, double vt, int state)
Set the target speed.
PLAYERC_EXPORT int playerc_position3d_set_odom(playerc_position3d_t *device, double ox, double oy, double oz, double oroll, double opitch, double oyaw)
Set the odometry offset.
PLAYERC_EXPORT playerc_position3d_t * playerc_position3d_create(playerc_client_t *client, int index)
Create a position3d device proxy.
PLAYERC_EXPORT int playerc_position3d_enable(playerc_position3d_t *device, int enable)
Enable/disable the motors.
PLAYERC_EXPORT int playerc_position3d_set_pose(playerc_position3d_t *device, double gx, double gy, double gz, double gr, double gp, double gt)
Set the target pose (gx, gy, ga, gr, gp, gt) is the target pose in the odometric coordinate system.
PLAYERC_EXPORT int playerc_position3d_set_cmd_pose(playerc_position3d_t *device, double gx, double gy, double gz)
For compatibility with old position3d interface.
PLAYERC_EXPORT int playerc_position3d_set_speed(playerc_position3d_t *device, double vx, double vy, double vz, int state)
For compatibility with old position3d interface.
PLAYERC_EXPORT void playerc_position3d_destroy(playerc_position3d_t *device)
Destroy a position3d device proxy.
PLAYERC_EXPORT int playerc_power_subscribe(playerc_power_t *device, int access)
Subscribe to the power device.
PLAYERC_EXPORT void playerc_power_destroy(playerc_power_t *device)
Destroy a power device proxy.
PLAYERC_EXPORT playerc_power_t * playerc_power_create(playerc_client_t *client, int index)
Create a power device proxy.
PLAYERC_EXPORT int playerc_power_unsubscribe(playerc_power_t *device)
Un-subscribe from the power device.
PLAYERC_EXPORT int playerc_ptz_set_ws(playerc_ptz_t *device, double pan, double tilt, double zoom, double panspeed, double tiltspeed)
Set the pan, tilt and zoom values (and speed)
PLAYERC_EXPORT int playerc_ptz_query_status(playerc_ptz_t *device)
Query the pan and tilt status.
PLAYERC_EXPORT int playerc_ptz_set(playerc_ptz_t *device, double pan, double tilt, double zoom)
Set the pan, tilt and zoom values.
PLAYERC_EXPORT int playerc_ptz_unsubscribe(playerc_ptz_t *device)
Un-subscribe from the ptz device.
PLAYERC_EXPORT void playerc_ptz_destroy(playerc_ptz_t *device)
Destroy a ptz proxy.
PLAYERC_EXPORT int playerc_ptz_subscribe(playerc_ptz_t *device, int access)
Subscribe to the ptz device.
PLAYERC_EXPORT playerc_ptz_t * playerc_ptz_create(playerc_client_t *client, int index)
Create a ptz proxy.
PLAYERC_EXPORT int playerc_ptz_set_control_mode(playerc_ptz_t *device, int mode)
Change control mode (select velocity or position control)
PLAYERC_EXPORT int playerc_ranger_unsubscribe(playerc_ranger_t *device)
Un-subscribe from the ranger device.
PLAYERC_EXPORT int playerc_ranger_get_config(playerc_ranger_t *device, double *min_angle, double *max_angle, double *angular_res, double *min_range, double *max_range, double *range_res, double *frequency)
Get the ranger device's configuration.
PLAYERC_EXPORT int playerc_ranger_subscribe(playerc_ranger_t *device, int access)
Subscribe to the ranger device.
PLAYERC_EXPORT int playerc_ranger_set_config(playerc_ranger_t *device, double min_angle, double max_angle, double angular_res, double min_range, double max_range, double range_res, double frequency)
Set the ranger device's configuration.
PLAYERC_EXPORT void playerc_ranger_destroy(playerc_ranger_t *device)
Destroy a ranger proxy.
PLAYERC_EXPORT int playerc_ranger_get_geom(playerc_ranger_t *device)
Get the ranger geometry.
PLAYERC_EXPORT int playerc_ranger_power_config(playerc_ranger_t *device, uint8_t value)
Turn device power on or off.
PLAYERC_EXPORT int playerc_ranger_intns_config(playerc_ranger_t *device, uint8_t value)
Turn intensity data on or off.
PLAYERC_EXPORT playerc_ranger_t * playerc_ranger_create(playerc_client_t *client, int index)
Create a ranger proxy.
PLAYERC_EXPORT int playerc_rfid_unsubscribe(playerc_rfid_t *device)
Un-subscribe from the rfid device.
PLAYERC_EXPORT void playerc_rfid_destroy(playerc_rfid_t *device)
Destroy a rfid proxy.
PLAYERC_EXPORT int playerc_rfid_subscribe(playerc_rfid_t *device, int access)
Subscribe to the rfid device.
PLAYERC_EXPORT playerc_rfid_t * playerc_rfid_create(playerc_client_t *client, int index)
Create a rfid proxy.
PLAYERC_EXPORT int playerc_simulation_get_pose2d(playerc_simulation_t *device, char *identifier, double *x, double *y, double *a)
Get the 2D pose of a named simulation object.
PLAYERC_EXPORT int playerc_simulation_unsubscribe(playerc_simulation_t *device)
Un-subscribe from the simulation device.
PLAYERC_EXPORT int playerc_simulation_pause(playerc_simulation_t *device)
pause / unpause the simulation
PLAYERC_EXPORT int playerc_simulation_get_pose3d(playerc_simulation_t *device, char *identifier, double *x, double *y, double *z, double *roll, double *pitch, double *yaw, double *time)
Get the 3D pose of a named simulation object.
PLAYERC_EXPORT int playerc_simulation_get_property(playerc_simulation_t *device, char *name, char *property, void *value, size_t value_len)
Get a property value.
PLAYERC_EXPORT int playerc_simulation_reset(playerc_simulation_t *device)
reset the simulation state
PLAYERC_EXPORT playerc_simulation_t * playerc_simulation_create(playerc_client_t *client, int index)
Create a new simulation proxy.
PLAYERC_EXPORT int playerc_simulation_set_pose3d(playerc_simulation_t *device, char *name, double gx, double gy, double gz, double groll, double gpitch, double gyaw)
Set the 3D pose of a named simulation object.
PLAYERC_EXPORT int playerc_simulation_set_pose2d(playerc_simulation_t *device, char *name, double gx, double gy, double ga)
Set the 2D pose of a named simulation object.
PLAYERC_EXPORT int playerc_simulation_subscribe(playerc_simulation_t *device, int access)
Subscribe to the simulation device.
PLAYERC_EXPORT void playerc_simulation_destroy(playerc_simulation_t *device)
Destroy a simulation proxy.
PLAYERC_EXPORT int playerc_simulation_save(playerc_simulation_t *device)
make the simulation save the status/world
PLAYERC_EXPORT int playerc_simulation_set_property(playerc_simulation_t *device, char *name, char *property, void *value, size_t value_len)
Set a property value.
PLAYERC_EXPORT playerc_sonar_t * playerc_sonar_create(playerc_client_t *client, int index)
Create a sonar proxy.
PLAYERC_EXPORT int playerc_sonar_unsubscribe(playerc_sonar_t *device)
Un-subscribe from the sonar device.
PLAYERC_EXPORT void playerc_sonar_destroy(playerc_sonar_t *device)
Destroy a sonar proxy.
PLAYERC_EXPORT int playerc_sonar_subscribe(playerc_sonar_t *device, int access)
Subscribe to the sonar device.
PLAYERC_EXPORT int playerc_sonar_get_geom(playerc_sonar_t *device)
Get the sonar geometry.
PLAYERC_EXPORT int playerc_speechrecognition_unsubscribe(playerc_speechrecognition_t *device)
Un-subscribe from the speech recognition device.
PLAYERC_EXPORT void playerc_speechrecognition_destroy(playerc_speechrecognition_t *device)
Destroy a speech recognition proxy.
PLAYERC_EXPORT int playerc_speechrecognition_subscribe(playerc_speechrecognition_t *device, int access)
Subscribe to the speech recognition device.
PLAYERC_EXPORT playerc_speechrecognition_t * playerc_speechrecognition_create(playerc_client_t *client, int index)
Create a speech recognition proxy.
PLAYERC_EXPORT playerc_speech_t * playerc_speech_create(playerc_client_t *client, int index)
Create a speech proxy.
PLAYERC_EXPORT int playerc_speech_say(playerc_speech_t *device, char *)
Set the output for the speech device.
PLAYERC_EXPORT int playerc_speech_unsubscribe(playerc_speech_t *device)
Un-subscribe from the speech device.
PLAYERC_EXPORT void playerc_speech_destroy(playerc_speech_t *device)
Destroy a speech proxy.
PLAYERC_EXPORT int playerc_speech_subscribe(playerc_speech_t *device, int access)
Subscribe to the speech device.
PLAYERC_EXPORT playerc_stereo_t * playerc_stereo_create(playerc_client_t *client, int index)
Create a stereo proxy.
player_pointcloud3d_stereo_element_t playerc_pointcloud3d_stereo_element_t
Structure describing a single 3D pointcloud element.
Definition playerc.h:3722
PLAYERC_EXPORT int playerc_stereo_subscribe(playerc_stereo_t *device, int access)
Subscribe to the stereo device.
PLAYERC_EXPORT void playerc_stereo_destroy(playerc_stereo_t *device)
Destroy a stereo proxy.
PLAYERC_EXPORT int playerc_stereo_unsubscribe(playerc_stereo_t *device)
Un-subscribe from the stereo device.
PLAYERC_EXPORT int playerc_vectormap_unsubscribe(playerc_vectormap_t *device)
Un-subscribe from the vectormap device.
PLAYERC_EXPORT int playerc_vectormap_subscribe(playerc_vectormap_t *device, int access)
Subscribe to the vectormap device.
PLAYERC_EXPORT int playerc_vectormap_get_map_info(playerc_vectormap_t *device)
Get the vectormap metadata, which is stored in the proxy.
PLAYERC_EXPORT int playerc_vectormap_get_layer_data(playerc_vectormap_t *device, unsigned layer_index)
Get the layer data by index.
PLAYERC_EXPORT uint8_t * playerc_vectormap_get_feature_data(playerc_vectormap_t *device, unsigned layer_index, unsigned feature_index)
Get an individual feature as a WKB geometry.
PLAYERC_EXPORT playerc_vectormap_t * playerc_vectormap_create(playerc_client_t *client, int index)
Create a vectormap proxy.
PLAYERC_EXPORT void playerc_vectormap_destroy(playerc_vectormap_t *device)
Destroy a vectormap proxy.
PLAYERC_EXPORT void playerc_vectormap_cleanup(playerc_vectormap_t *device)
Clean up the dynamically allocated memory for the vectormap.
PLAYERC_EXPORT int playerc_vectormap_write_layer(playerc_vectormap_t *device, const player_vectormap_layer_data_t *data)
Write layer data.
PLAYERC_EXPORT void playerc_wifi_destroy(playerc_wifi_t *device)
Destroy a wifi proxy.
PLAYERC_EXPORT playerc_wifi_link_t * playerc_wifi_get_link(playerc_wifi_t *device, int link)
Get link state.
PLAYERC_EXPORT playerc_wifi_t * playerc_wifi_create(playerc_client_t *client, int index)
Create a wifi proxy.
PLAYERC_EXPORT int playerc_wifi_unsubscribe(playerc_wifi_t *device)
Un-subscribe from the wifi device.
PLAYERC_EXPORT int playerc_wifi_subscribe(playerc_wifi_t *device, int access)
Subscribe to the wifi device.
PLAYERC_EXPORT int playerc_wsn_subscribe(playerc_wsn_t *device, int access)
Subscribe to the wsn device.
PLAYERC_EXPORT int playerc_wsn_set_devstate(playerc_wsn_t *device, int node_id, int group_id, int devnr, int state)
Set the device state.
PLAYERC_EXPORT playerc_wsn_t * playerc_wsn_create(playerc_client_t *client, int index)
Create a wsn proxy.
PLAYERC_EXPORT int playerc_wsn_datatype(playerc_wsn_t *device, int value)
Change the data type to RAW or converted engineering units.
PLAYERC_EXPORT int playerc_wsn_datafreq(playerc_wsn_t *device, int node_id, int group_id, double frequency)
Change data delivery frequency.
PLAYERC_EXPORT int playerc_wsn_unsubscribe(playerc_wsn_t *device)
Un-subscribe from the wsn device.
PLAYERC_EXPORT void playerc_wsn_destroy(playerc_wsn_t *device)
Destroy a wsn proxy.
PLAYERC_EXPORT int playerc_wsn_power(playerc_wsn_t *device, int node_id, int group_id, int value)
Put the node in sleep mode (0) or wake it up (1).
PLAYERC_EXPORT int playerc_add_xdr_ftable(playerxdr_function_t *flist, int replace)
Get the name for a given interface code.
PLAYERC_EXPORT const char * playerc_error_str(void)
Retrieve the last error (as a descriptive string).
struct player_blackboard_entry player_blackboard_entry_t
Vectormap feature data.
double lasttime
Server time stamp on the previous packet.
Definition playerc.h:573
int connected
Whether or not we're currently connected.
Definition playerc.h:521
uint32_t overflow_count
How many messages were lost on the server due to overflows, incremented by player,...
Definition playerc.h:533
int retry_limit
How many times we'll try to reconnect after a socket error.
Definition playerc.h:526
double retry_time
How long to sleep, in seconds, to sleep between reconnect attempts.
Definition playerc.h:530
double datatime
Server time stamp on the last packet.
Definition playerc.h:571
struct _playerc_device_t * device[PLAYER_MAX_DEVICES]
List of subscribed devices.
Definition playerc.h:557
void * id
A useful ID for identifying devices; mostly used by other language bindings.
Definition playerc.h:511
playerc_device_info_t devinfos[PLAYER_MAX_DEVICES]
List of available (but not necessarily subscribed) devices.
Definition playerc.h:553
playerc_client_item_t qitems[PLAYERC_QUEUE_RING_SIZE]
Definition playerc.h:561
double lasttime
Data timestamp from the previous data.
Definition playerc.h:888
playerc_client_t * client
Pointer to the client proxy.
Definition playerc.h:872
int subscribed
The subscribe flag is non-zero if the device has been successfully subscribed (read-only).
Definition playerc.h:882
char drivername[PLAYER_MAX_DRIVER_STRING_LEN]
The driver name.
Definition playerc.h:878
playerc_putmsg_fn_t putmsg
Standard message callback for this device.
Definition playerc.h:904
void * id
A useful ID for identifying devices; mostly used by other language bindings.
Definition playerc.h:869
void * user_data
Extra user data for this device.
Definition playerc.h:907
double datatime
Data timestamp, i.e., the time at which the data was generated (s).
Definition playerc.h:885
int callback_count
Extra callbacks for this device.
Definition playerc.h:910
A rectangular bounding box, used to define the size of an object.
Definition player.h:255
A rectangular bounding box, used to define the origin and bounds of an object.
Definition player.h:308
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1039
player_orientation_3d_t base_orientation
The orientation of the base of the actarray.
Definition playerc.h:1053
uint32_t actuators_count
The number of actuators in the array.
Definition playerc.h:1042
player_point_3d_t base_pos
The position of the base of the actarray.
Definition playerc.h:1051
uint8_t motor_state
Reports if the actuators are off (0) or on (1)
Definition playerc.h:1049
uint32_t actuators_geom_count
The number of actuators we have geometry for.
Definition playerc.h:1046
player_actarray_actuator_t * actuators_data
The actuator data, geometry and motor state.
Definition playerc.h:1044
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:982
player_audio_mixer_channel_list_detail_t channel_details_list
Details of the channels from the mixer.
Definition playerc.h:1136
player_audio_mixer_channel_list_t mixer_data
current channel data
Definition playerc.h:1145
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1133
player_audio_wav_t wav_data
last block of recorded data
Definition playerc.h:1139
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1231
void * py_private
Kludge to get around python callback issues.
Definition playerc.h:1235
void(* on_blackboard_event)(struct playerc_blackboard *, player_blackboard_entry_t)
Function to be called when a key is updated.
Definition playerc.h:1233
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1292
unsigned int blobs_count
A list of detected blobs.
Definition playerc.h:1354
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1348
uint8_t * bumpers
Bump data: unsigned char, either boolean or code indicating corner.
Definition playerc.h:1405
int bumper_count
Number of points in the scan.
Definition playerc.h:1402
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1391
player_bumper_define_t * poses
Pose of each bumper relative to robot (mm, mm, deg, mm, mm).
Definition playerc.h:1399
uint8_t * image
Image data (byte aligned, row major order).
Definition playerc.h:1474
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1448
int fdiv
Some images (such as disparity maps) use scaled pixel values; for these images, fdiv specifies the sc...
Definition playerc.h:1462
Definition playerc.h:431
Note: the structure describing the Cooperating Object's data packet is declared in Player.
Definition playerc.h:1533
uint32_t sensor_data_count
Number of sensors included.
Definition playerc.h:1568
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1535
uint32_t user_data_count
User defined message size (in bytes)
Definition playerc.h:1577
int messageType
Flag to indicate that new info has come.
Definition playerc.h:1538
uint32_t alarm_data_count
Number of alarms included.
Definition playerc.h:1572
player_coopobject_sensor_t * alarm_data
Active alarms array.
Definition playerc.h:1574
uint16_t RSSIsender
Cooperating Object data packet.
Definition playerc.h:1554
uint8_t * parameters
Request/command parameters array
Definition playerc.h:1588
uint16_t parent_id
Cooperating Object Parent ID (if existing)
Definition playerc.h:1549
uint32_t parameters_count
Request/command parameters array size (in bytes)
Definition playerc.h:1586
player_coopobject_sensor_t * sensor_data
Sensor measurements array.
Definition playerc.h:1570
Info about an available (but not necessarily subscribed) device.
Definition playerc.h:496
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1642
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1691
player_fiducial_geom_t fiducial_geom
Geometry in robot cs.
Definition playerc.h:1697
int fiducials_count
List of detected beacons.
Definition playerc.h:1700
double err_horz
Horizontal and vertical error (meters).
Definition playerc.h:1775
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1744
double course
Course made good (heading if the robot moves along its longitudinal axis), in radians.
Definition playerc.h:1763
int quality
Quality of fix 0 = invalid, 1 = GPS fix, 2 = DGPS fix.
Definition playerc.h:1778
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1815
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1882
uint8_t capacity
The capacity of the gripper's store - if 0, the gripper cannot store.
Definition playerc.h:1952
uint8_t num_beams
The number of breakbeams the gripper has.
Definition playerc.h:1950
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:1938
player_pose3d_t pose
Gripper geometry in the robot cs: pose gives the position and orientation, outer_size gives the exten...
Definition playerc.h:1946
uint8_t stored
The number of currently-stored objects.
Definition playerc.h:1961
uint8_t state
The gripper's state: may be one of PLAYER_GRIPPER_STATE_OPEN, PLAYER_GRIPPER_STATE_CLOSED,...
Definition playerc.h:1957
uint32_t beams
The position of the object in the gripper.
Definition playerc.h:1959
Note: the structure describing the HEALTH's data packet is declared in Player.
Definition playerc.h:2019
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2021
player_health_cpu_t cpu_usage
The current cpu usage
Definition playerc.h:2023
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition playerc.h:3781
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3773
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles
Definition playerc.h:3776
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2062
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2111
int * intensity
Scan reflection intensity values (0-3).
Definition playerc.h:2200
player_point_2d_t * point
Scan data; x, y position (m).
Definition playerc.h:2195
double min_right
Minimum range, in meters, in the right half of the scan (those ranges from the first beam,...
Definition playerc.h:2211
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2156
double min_left
Minimum range, in meters, in the left half of the scan (those ranges from the first beam after the mi...
Definition playerc.h:2216
double scan_start
Start bearing of the scan (radians).
Definition playerc.h:2174
double scanning_frequency
Scanning frequency in Hz.
Definition playerc.h:2186
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2328
int8_t * map_cells
Map data (empty = -1, unknown = 0, occupied = +1).
Definition playerc.h:2422
double pending_time
The timestamp on the last reading processed.
Definition playerc.h:2428
int pending_count
The number of pending (unprocessed) sensor readings.
Definition playerc.h:2425
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2410
int type
What kind of log device is this? Either PLAYER_LOG_TYPE_READ or PLAYER_LOG_TYPE_WRITE.
Definition playerc.h:2482
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2478
int state
Is logging/playback enabled? Call playerc_log_get_state() to fill it.
Definition playerc.h:2486
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2538
double vminx
Vector-based version of the map (call playerc_map_get_vector() to fill this in).
Definition playerc.h:2557
int8_t data_range
Value for each cell (-range <= EMPTY < 0, unknown = 0, 0 < OCCUPIED <= range)
Definition playerc.h:2550
Definition playerc.h:439
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2659
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2708
double waypoint_distance
Straight-line distance along allwaypoints in the current plan.
Definition playerc.h:2739
int curr_waypoint
Current waypoint index (handy if you already have the list of waypoints).
Definition playerc.h:2728
int waypoint_count
Number of waypoints in the plan.
Definition playerc.h:2731
int path_valid
Did the planner find a valid path?
Definition playerc.h:2711
playerc_pointcloud3d_element_t * points
The list of 3D pointcloud elements.
Definition playerc.h:3694
uint16_t points_count
The number of 3D pointcloud elementS found.
Definition playerc.h:3691
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3688
int status
Status bitfield of extra data in the following order:
Definition playerc.h:2823
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2795
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2889
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2984
double vel_roll
Angular velocity (radians/sec).
Definition playerc.h:3002
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3088
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3145
double zoom
The current zoom value (field of view angle).
Definition playerc.h:3153
uint32_t intensities_count
Number of intensities in a scan.
Definition playerc.h:3265
uint32_t element_count
Number of individual elements in the device.
Definition playerc.h:3230
player_pose3d_t device_pose
Device geometry in the robot CS: pose gives the position and orientation, size gives the extent.
Definition playerc.h:3251
player_pose3d_t * element_poses
Geometry of each individual element in the device (e.g.
Definition playerc.h:3256
uint32_t bearings_count
Number of scan bearings.
Definition playerc.h:3272
double * bearings
Scan bearings in the XY plane [radians].
Definition playerc.h:3275
uint32_t ranges_count
Number of ranges in a scan.
Definition playerc.h:3260
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3227
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3647
uint16_t tags_count
The number of RFID tags found.
Definition playerc.h:3650
uint8_t * guid
The Globally Unique IDentifier (GUID) of the tag.
Definition playerc.h:3640
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3486
player_pose3d_t * poses
Pose of each sonar relative to robot (m, m, radians).
Definition playerc.h:3368
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3361
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3562
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3598
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3728
player_vectormap_layer_data_t ** layers_data
Layer data.
Definition playerc.h:2606
player_vectormap_layer_info_t ** layers_info
Layer info.
Definition playerc.h:2608
playerwkbprocessor_t wkbprocessor
WKB processor instance if you want to deal with WKB data.
Definition playerc.h:2610
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:2598
uint32_t layers_count
The number of layers.
Definition playerc.h:2604
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3443
playerc_wifi_link_t * links
A list containing info for each link.
Definition playerc.h:3446
Note: the structure describing the WSN node's data packet is declared in Player.
Definition playerc.h:3825
player_wsn_node_data_t data_packet
The WSN node's data packet.
Definition playerc.h:3836
uint32_t node_parent_id
The ID of the WSN node's parent (if existing).
Definition playerc.h:3834
playerc_device_t info
Device info; must be at the start of all device structures.
Definition playerc.h:3827