playerc++.h
195 player_orientation_3d_t GetBaseOrientation(void) const { return GetVar(mDevice->base_orientation); }
202 player_actarray_actuator_t operator [](uint32_t aJoint)
268 uint32_t GetMixerDetailsCount() const {return(GetVar(mDevice->channel_details_list.details_count));};
270 player_audio_mixer_channel_detail_t GetMixerDetails(int aIndex) const {return(GetVar(mDevice->channel_details_list.details[aIndex]));};
272 uint32_t GetDefaultOutputChannel() const {return(GetVar(mDevice->channel_details_list.default_output));};
274 uint32_t GetDefaultInputChannel() const {return(GetVar(mDevice->channel_details_list.default_input));};
292 player_audio_seq_item_t GetSeqItem(int aIndex) const {return(GetVar(mDevice->seq_data.tones[aIndex]));};
297 player_audio_mixer_channel_t GetChannel(int aIndex) const {return(GetVar(mDevice->mixer_data.channels[aIndex]));};
379 void SetEventHandler(void (*on_blackboard_event)(playerc_blackboard_t *, player_blackboard_entry_t));
672 uint8_t GetSensorType (uint32_t index) const { if ( index < GetSensorNumber() ) return GetVar(mDevice->sensor_data[index].type); else return -1; };
675 uint16_t GetSensorData (uint32_t index) const { if ( index < GetSensorNumber() ) return GetVar(mDevice->sensor_data[index].value); else return -1; };
701 uint8_t GetAlarmType (uint32_t index) const { if ( index < GetAlarmNumber() ) return GetVar(mDevice->alarm_data[index].type); else return -1; };
704 uint16_t GetAlarmData (uint32_t index) const { if ( index < GetAlarmNumber() ) return GetVar(mDevice->alarm_data[index].value); else return -1; };
713 uint8_t GetUserData (uint32_t index) const { if ( index < GetUserDataNumber() ) return GetVar(mDevice->user_data[index]); else return 0xFF; };
722 double GetRSSInodeTime () const { return (double)(mDevice->RSSInodeTimeHigh + 10e-6*mDevice->RSSInodeTimeLow); };
742 uint8_t GetParameter (uint32_t index) const { if ( index < GetParametersSize() ) return GetVar(mDevice->parameters[index]); else return 0xFF; };
747 void SendData(int destID, int sourceID, int extradata_type, uint32_t extradata_size, uint8_t *extradata);
749 void SendCommand(int destID, int sourceID, int command, uint32_t cmd_parameters_size = 0, uint8_t *cmd_parameters = NULL);
751 void SendRequest(int destID, int sourceID, int request, uint32_t req_parameters_size = 0, uint8_t *req_parameters = NULL);
2623 { if (GetVar(mDevice->scan_count) <= (int32_t)aIndex) return -1.0; return GetVar(mDevice->scan[aIndex]); };
2714 void SaveFrame(const std::string aPrefix, uint32_t aWidth, playerc_camera_t aDevice, uint8_t aIndex);
2723 uint32_t mFrameNo[3];
2735 void SaveLeftFrame(const std::string aPrefix, uint32_t aWidth=4) {return SaveFrame(aPrefix, aWidth, mDevice->left_channel, 0); };
2739 void SaveRightFrame(const std::string aPrefix, uint32_t aWidth=4) {return SaveFrame(aPrefix, aWidth, mDevice->right_channel, 1); };
2743 void SaveDisparityFrame(const std::string aPrefix, uint32_t aWidth=4) {return SaveFrame(aPrefix, aWidth, mDevice->disparity, 2); };
2858 player_pointcloud3d_stereo_element_t operator [] (uint32_t aIndex) const { return GetPoint(aIndex); }
3009 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::ActArrayProxy& c);
3012 //PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::BlinkenLightProxy& c);
3013 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::BlobfinderProxy& c);
3015 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::CameraProxy& c);PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::CoopObjectProxy& c);
3017 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::FiducialProxy& c);
3024 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::LinuxjoystickProxy& c);
3025 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::LocalizeProxy& c);
3030 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::Position1dProxy& c);
3031 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::Position2dProxy& c);
3032 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::Position3dProxy& c);
3036 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::SimulationProxy& c);
3039 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::SpeechRecognitionProxy& c);
3041 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::VectorMapProxy& c);
3042 //PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os, const PlayerCc::WafeformProxy& c);
The ActArrayProxy class is used to control a interface_actarray device.
Definition playerc++.h:142
void SetActuatorCurrentMulti(std::vector< float > aCurrent)
Set actuators 0 thru n to the given currents.
void MoveToMulti(std::vector< float > aPos)
Send actuators 0 thru n to the designated positions.
void MoveAtSpeed(uint32_t aJoint, float aSpeed)
Move an actuator at a speed.
player_point_3d_t GetBasePos(void) const
Accessor method for getting the base position.
Definition playerc++.h:193
void SetAccelerationConfig(uint32_t aJoint, float aAcc)
Acceleration control.
void SetSpeedConfig(uint32_t aJoint, float aSpeed)
Speed control.
player_orientation_3d_t GetBaseOrientation(void) const
Accessor method for getting the base orientation.
Definition playerc++.h:195
void MoveAtSpeedMulti(std::vector< float > aSpeed)
Move actuators 0 thru n at the designated speeds.
void MoveTo(uint32_t aJoint, float aPos)
Send an actuator to a position.
uint32_t GetCount(void) const
Gets the number of actuators in the array.
Definition playerc++.h:187
void SetActuatorCurrent(uint32_t aJoint, float aCurrent)
Set an actuator to a given current.
void RequestGeometry(void)
Geometry request - call before getting the geometry of a joint through the accessor method.
player_actarray_actuator_t GetActuatorData(uint32_t aJoint) const
Accessor method for getting an actuator's data.
ActArrayProxy(PlayerClient *aPc, uint32_t aIndex=0)
Default constructor.
player_actarray_actuatorgeom_t GetActuatorGeom(uint32_t aJoint) const
Same again for getting actuator geometry.
The AioProxy class is used to read from a interface_aio (analog I/O) device.
Definition playerc++.h:210
uint32_t GetCount() const
Get number of voltages.
Definition playerc++.h:227
void SetVoltage(uint32_t aIndex, double aVoltage)
Set an output voltage.
double GetVoltage(uint32_t aIndex) const
Get an input voltage.
Definition playerc++.h:230
The AudioProxy class controls an interface_audio device.
Definition playerc++.h:250
void GetMixerLevels()
Request mixer channel data result is stored in mixer_data.
uint32_t GetWavDataLength() const
Get Wav data length.
Definition playerc++.h:277
uint32_t GetState(void) const
Get driver state.
Definition playerc++.h:299
void RecordWav()
Request to record a single audio block result is stored in wav_data.
player_audio_mixer_channel_t GetChannel(int aIndex) const
Get Sequence item.
Definition playerc++.h:297
void GetSample(int aIndex)
Request to retrieve an audio sample Data is stored in wav_data.
void PlaySeq(player_audio_seq_t *aTones)
Command to play sequence of tones.
player_audio_seq_item_t GetSeqItem(int aIndex) const
Get Sequence item.
Definition playerc++.h:292
uint32_t GetMixerDetailsCount() const
Get Mixer Details Count.
Definition playerc++.h:268
void SetMultMixerLevels(player_audio_mixer_channel_list_t *aLevels)
Command to set multiple mixer levels.
uint32_t GetDefaultOutputChannel() const
Get Default output Channel.
Definition playerc++.h:272
void SetMixerLevel(uint32_t index, float amplitude, uint8_t active)
Command to set a single mixer level.
void RecordSample(int aIndex, uint32_t aLength)
Request to record new sample.
void LoadSample(int aIndex, uint32_t aDataCount, uint8_t *aData, uint32_t aFormat)
Request to load an audio sample.
uint32_t GetChannelCount() const
Get Channel data count.
Definition playerc++.h:295
uint32_t GetDefaultInputChannel() const
Get Default input Channel.
Definition playerc++.h:274
player_audio_mixer_channel_detail_t GetMixerDetails(int aIndex) const
Get Mixer Detail.
Definition playerc++.h:270
void PlayWav(uint32_t aDataCount, uint8_t *aData, uint32_t aFormat)
Command to play an audio block.
uint32_t GetSeqCount() const
Get Seq data count.
Definition playerc++.h:290
void GetMixerDetails()
Request mixer channel details list result is stored in channel_details_list.
void GetWavData(uint8_t *aData) const
Get Wav data This function copies the wav data into the buffer aImage.
Definition playerc++.h:282
The BlackBoardProxy class is used to subscribe to a blackboard device.
Definition playerc++.h:353
BlackBoardProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
void SetEventHandler(void(*on_blackboard_event)(playerc_blackboard_t *, player_blackboard_entry_t))
Set the function pointer which will be called when an entry is updated.
player_blackboard_entry_t * SubscribeToKey(const char *key, const char *group="")
Subscribe to a key.
void SubscribeToGroup(const char *key)
Subscribe to a group.
void UnsubscribeFromGroup(const char *group)
Stop receiving updates about this group.
void UnsubscribeFromKey(const char *key, const char *group="")
Stop receiving updates about this key.
void SetEntry(const player_blackboard_entry_t &entry)
Set a key value.
player_blackboard_entry_t * GetEntry(const char *key, const char *group)
Get a value for a key.
The BlinkenlightProxy class is used to enable and disable a flashing indicator light,...
Definition playerc++.h:426
uint32_t GetWidth() const
get the width of the image
Definition playerc++.h:448
playerc_blobfinder_blob_t GetBlob(uint32_t aIndex) const
returns a blob
Definition playerc++.h:444
uint32_t GetHeight() const
get the height of the image
Definition playerc++.h:450
uint32_t GetCount() const
returns the number of blobs
Definition playerc++.h:442
BlobfinderProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
The BumperProxy class is used to read from a interface_bumper device.
Definition playerc++.h:477
bool IsAnyBumped()
Returns true if any bumper has been bumped, false otherwise.
player_bumper_define_t GetPose(uint32_t aIndex) const
Returns a specific bumper pose.
Definition playerc++.h:511
void RequestBumperConfig()
Requests the geometries of the bumpers.
uint32_t GetCount() const
Returns how many bumpers are in underlying device.
Definition playerc++.h:495
uint32_t GetPoseCount() const
Returns the number bumper poses.
Definition playerc++.h:508
uint32_t IsBumped(uint32_t aIndex) const
Returns true if the specified bumper has been bumped, false otherwise.
Definition playerc++.h:498
The CameraProxy class can be used to get images from a interface_camera device.
Definition playerc++.h:527
uint32_t GetDepth() const
Image color depth.
Definition playerc++.h:557
uint32_t GetCompression() const
What is the compression type? Currently supported compression types are:
Definition playerc++.h:591
uint32_t GetImageSize() const
Size of the image (bytes)
Definition playerc++.h:574
void SaveFrame(const std::string aPrefix, uint32_t aWidth=4)
Save the frame.
uint32_t GetHeight() const
Image dimensions (pixels)
Definition playerc++.h:563
uint32_t GetWidth() const
Image dimensions (pixels)
Definition playerc++.h:560
void GetImage(uint8_t *aImage) const
Image data This function copies the image data into the data buffer aImage.
Definition playerc++.h:580
uint32_t GetFormat() const
Image format Possible values include.
Definition playerc++.h:571
The CoopObjectProxy class is used to control a interface_coopobject device.
Definition playerc++.h:599
uint8_t GetParameter(uint32_t index) const
Indexed user defined byte.
Definition playerc++.h:742
void SetProxyID(uint32_t value)
Set robot ID.
Definition playerc++.h:648
uint32_t GetAlarmNumber() const
Get number of alarms included in the message.
Definition playerc++.h:678
void SendCommand(int destID, int sourceID, int command, uint32_t cmd_parameters_size=0, uint8_t *cmd_parameters=NULL)
Send command to Cooperating Object.
float GetZ() const
Cooperating Object Z position.
Definition playerc++.h:729
uint8_t GetSensorType(uint32_t index) const
Sensor type Possible values include.
Definition playerc++.h:672
int MessageType() const
Message type Possible values include.
Definition playerc++.h:628
uint32_t GetCommand() const
Command type.
Definition playerc++.h:736
uint16_t GetRSSIstamp() const
Radio Signal Strength message timestamp.
Definition playerc++.h:720
uint16_t GetRSSIvalue() const
Radio Signal Strength value.
Definition playerc++.h:718
uint32_t GetProxyID() const
Get robot ID.
Definition playerc++.h:645
uint32_t GetUserDataNumber() const
Get number of bytes of user defined data.
Definition playerc++.h:707
uint16_t GetRSSIsenderId() const
Radio Signal Strength sender ID.
Definition playerc++.h:716
uint32_t GetParentID() const
Cooperating Object Parent ID.
Definition playerc++.h:642
double GetRSSInodeTime() const
Radio Signal Strength Cooperating Object timestamp.
Definition playerc++.h:722
uint8_t * GetAllParameters() const
Request/Command parameter array.
Definition playerc++.h:740
float GetX() const
Cooperating Object X position.
Definition playerc++.h:725
CoopObjectProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
float GetY() const
Cooperating Object Y position.
Definition playerc++.h:727
uint8_t GetAlarmType(uint32_t index) const
Alarm type Possible values include.
Definition playerc++.h:701
void SendRequest(int destID, int sourceID, int request, uint32_t req_parameters_size=0, uint8_t *req_parameters=NULL)
Send request to Cooperating Object.
uint16_t GetAlarmData(uint32_t index) const
Alarm value.
Definition playerc++.h:704
void SendData(int destID, int sourceID, player_pose2d_t pos, int status)
Send user data to Cooperating Object.
uint8_t GetStatus() const
Cooperating Object status.
Definition playerc++.h:731
uint32_t GetRequest() const
Request type.
Definition playerc++.h:734
uint32_t GetParametersSize() const
Request/Command parameter array size (in bytes)
Definition playerc++.h:738
void SendData(int destID, int sourceID, int extradata_type, uint32_t extradata_size, uint8_t *extradata)
Send user data to Cooperating Object.
uint16_t GetSensorData(uint32_t index) const
Sensor value.
Definition playerc++.h:675
uint32_t GetOrigin() const
Cooperating Object type Possible values include.
Definition playerc++.h:636
uint8_t * GetAllUserData() const
User defined data array.
Definition playerc++.h:710
uint8_t GetUserData(uint32_t index) const
Indexed user defined byte.
Definition playerc++.h:713
uint32_t GetID() const
Cooperating Object ID.
Definition playerc++.h:639
uint32_t GetSensorNumber() const
Get number of sensors included in the message.
Definition playerc++.h:651
The DioProxy class is used to read from a interface_dio (digital I/O) device.
Definition playerc++.h:766
uint32_t GetCount() const
The number of valid digital inputs.
Definition playerc++.h:782
void SetOutput(uint32_t aCount, uint32_t aDigout)
Set the output to the bitfield aDigout.
uint32_t GetDigin() const
A bitfield of the current digital inputs.
Definition playerc++.h:785
The FiducialProxy class is used to control interface_fiducial devices.
Definition playerc++.h:807
player_pose3d_t GetSensorPose() const
The pose of the sensor.
Definition playerc++.h:829
player_fiducial_item_t GetFiducialItem(uint32_t aIndex) const
Get detected beacon description.
Definition playerc++.h:825
player_bbox3d_t GetSensorSize() const
The size of the sensor.
Definition playerc++.h:833
uint32_t GetCount() const
The number of beacons detected.
Definition playerc++.h:822
void RequestGeometry()
Get the sensor's geometry configuration.
FiducialProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
player_bbox2d_t GetFiducialSize() const
The size of the most recently detected fiducial.
Definition playerc++.h:837
The GpsProxy class is used to control a interface_gps device.
Definition playerc++.h:855
double GetCourse() const
Course made good (heading if the robot moves along its longitudinal axis), in radians.
Definition playerc++.h:884
double GetErrHorizontal() const
Errors.
Definition playerc++.h:906
double GetVdop() const
Vertical dilution of position (HDOP)
Definition playerc++.h:896
uint32_t GetSatellites() const
Number of satellites in view.
Definition playerc++.h:887
double GetHdop() const
Horizontal dilution of position (HDOP)
Definition playerc++.h:893
double GetAltitude() const
Altitude, in meters.
Definition playerc++.h:877
double GetLatitude() const
Latitude and longitude, in degrees.
Definition playerc++.h:873
double GetUtmEasting() const
UTM easting and northing (meters).
Definition playerc++.h:899
double GetSpeed() const
Spped over ground, in m/s.
Definition playerc++.h:880
The Graphics2dProxy class is used to draw simple graphics into a rendering device provided by Player ...
Definition playerc++.h:918
void DrawMultiline(player_point_2d_t pts[], int count)
Draw multiple lines. Lines ending points are at pts[2n] pts[2n+1] where 2n+1<count.
void DrawPolygon(player_point_2d_t pts[], int count, bool filled, player_color_t fill_color)
Draw a polygon defined by a set of points.
Graphics2dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
void DrawPolyline(player_point_2d_t pts[], int count)
Draw a line connecting set of points.
void Color(uint8_t red, uint8_t green, uint8_t blue, uint8_t alpha)
Set the current pen color.
void DrawPoints(player_point_2d_t pts[], int count)
Draw a set of points.
The Graphics3dProxy class is used to draw simple graphics into a rendering device provided by Player ...
Definition playerc++.h:968
void Color(uint8_t red, uint8_t green, uint8_t blue, uint8_t alpha)
Set the current pen color.
void Draw(player_graphics3d_draw_mode_t mode, player_point_3d_t pts[], int count)
Draw a set of verticies.
Graphics3dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
The GripperProxy class is used to control a interface_gripper device.
Definition playerc++.h:1005
void RequestGeometry(void)
Geometry request - call before getting the geometry of the gripper through an accessor method.
player_bbox3d_t GetInnerSize() const
Get the inner size of the gripper.
Definition playerc++.h:1035
uint32_t GetCapacity() const
Get the capacity of the gripper's storage.
Definition playerc++.h:1039
uint32_t GetNumBeams() const
Get the number of breakbeams in the gripper.
Definition playerc++.h:1037
player_pose3d_t GetPose() const
Get the pose of the gripper.
Definition playerc++.h:1031
uint32_t GetBeams() const
Get the gripper break beam info.
Definition playerc++.h:1029
uint32_t GetState() const
Get the gripper state.
Definition playerc++.h:1027
uint32_t GetStored() const
Get the number of currently-stored objects.
Definition playerc++.h:1041
player_bbox3d_t GetOuterSize() const
Get the outer size of the gripper.
Definition playerc++.h:1033
The HealthProxy class is used to get infos of the player-server.
Definition playerc++.h:1058
float GetPercTotalUsed()
Get percentage of totally used memory (swap and ram)
The ImuProxy class is used to control an interface_imu device.
Definition playerc++.h:1118
void ResetEuler(float aRoll, float aPitch, float aYaw)
Reset euler orientation.
player_pose3d_t GetPose() const
Get the processed pose of the imu.
Definition playerc++.h:1134
player_imu_data_calib_t GetRawValues() const
Get all calibrated values.
Definition playerc++.h:1156
void SetDatatype(int aDatatype)
Change the data type to one of the predefined data structures.
The IrProxy class is used to control an interface_ir device.
Definition playerc++.h:1176
double GetVoltage(uint32_t aIndex) const
get the current voltage
Definition playerc++.h:1199
double GetRange(uint32_t aIndex) const
get the current range
Definition playerc++.h:1196
player_pose3d_t GetPose(uint32_t aIndex) const
get a particular pose
Definition playerc++.h:1204
uint32_t GetPoseCount() const
get the number of poses
Definition playerc++.h:1202
uint32_t GetCount() const
get the number of IR rangers
Definition playerc++.h:1194
The LaserProxy class is used to control a interface_laser device.
Definition playerc++.h:1225
double GetMinLeft() const
Minimum range reading on the left side.
Definition playerc++.h:1368
double GetRange(uint32_t aIndex) const
get the range
Definition playerc++.h:1287
double GetConfMaxAngle() const
Scan range from the laser config (call RequestConfigure first) (radians)
Definition playerc++.h:1272
double GetBearing(uint32_t aIndex) const
get the bearing
Definition playerc++.h:1291
player_pose3d_t GetPose()
Accessor for the pose of the laser with respect to its parent object (e.g., a robot).
Definition playerc++.h:1332
uint32_t GetCount() const
Number of points in scan.
Definition playerc++.h:1246
double GetScanningFrequency() const
Scanning Frequency (Hz)
Definition playerc++.h:1258
double GetMinRight() const
Minimum range reading on the right side.
Definition playerc++.h:1372
int GetIntensity(uint32_t aIndex) const
get the intensity
Definition playerc++.h:1296
void RequestConfigure()
Request the current laser configuration; it is read into the relevant class attributes.
player_pose3d_t GetRobotPose()
Accessor for the pose of the laser's parent object (e.g., a robot).
Definition playerc++.h:1345
bool IntensityOn() const
Whether or not reflectance (i.e., intensity) values are being returned.
Definition playerc++.h:1275
void RequestGeom()
Get the laser's geometry; it is read into the relevant class attributes.
player_point_2d_t GetPoint(uint32_t aIndex) const
Scan data (Cartesian): x,y (m)
Definition playerc++.h:1282
int GetID() const
get the laser ID, call RequestId first
Definition playerc++.h:1300
double GetConfMinAngle() const
Scan range from the laser config (call RequestConfigure first) (radians)
Definition playerc++.h:1270
double GetMinAngle() const
Scan range for the latest set of data (radians)
Definition playerc++.h:1261
void Configure(double aMinAngle, double aMaxAngle, uint32_t aScanRes, uint32_t aRangeRes, bool aIntensity, double aScanningFrequency)
Configure the laser scan pattern.
player_bbox3d_t GetSize()
Accessor for the size (fill it in by calling RequestGeom)
Definition playerc++.h:1357
double GetMaxAngle() const
Scan range for the latest set of data (radians)
Definition playerc++.h:1263
double GetScanRes() const
Angular resolution of scan (radians)
Definition playerc++.h:1252
double GetRangeRes() const
Range resolution of scan (mm)
Definition playerc++.h:1255
double GetMaxRange() const
Max range for the latest set of data (meters)
Definition playerc++.h:1249
The LimbProxy class is used to control a interface_limb device.
Definition playerc++.h:1398
player_limb_geom_req_t GetGeom(void) const
Same again for getting the limb's geometry.
player_limb_data_t GetData(void) const
Accessor method for getting the limb's data.
void SetPose(float aPX, float aPY, float aPZ, float aAX, float aAY, float aAZ, float aOX, float aOY, float aOZ)
Move the end effector to a given pose.
void RequestGeometry(void)
Geometry request - call before getting the geometry of a joint through the accessor method.
void VectorMove(float aX, float aY, float aZ, float aLength)
Move the end effector along a vector of given length, maintaining current orientation.
void SetPosition(float aX, float aY, float aZ)
Move the end effector to a given position, ignoring orientation.
The LinuxjoystickProxy class is used to control a interface_joystick device.
Definition playerc++.h:1452
uint32_t GetAxesCount() const
Number of valid joystick poses.
Definition playerc++.h:1478
uint32_t GetButtons() const
return the sensor count
Definition playerc++.h:1468
double GetAxes(uint32_t aIndex) const
return a particular scan value
Definition playerc++.h:1471
The LocalizeProxy class is used to control a interface_localize device, which can provide multiple po...
Definition playerc++.h:1502
uint32_t GetNumHypoths() const
Get the number of localization hypoths.
Definition playerc++.h:1564
double GetMapScale() const
Map scale (m/cell)
Definition playerc++.h:1532
int GetParticles()
Get the particle set.
Definition playerc++.h:1554
void SetPose(double pose[3], double cov[6])
Set the current pose hypothesis (m, m, radians).
uint32_t GetMapTileX() const
Map tile X dimension (cells)
Definition playerc++.h:1527
uint32_t GetMapTileY() const
Map tile Y dimension (cells)
Definition playerc++.h:1529
uint32_t GetNumParticles() const
Get the number of particles (for particle filter-based localization systems).
Definition playerc++.h:1568
uint32_t GetHypothCount() const
Number of possible poses.
Definition playerc++.h:1547
player_localize_hypoth_t GetHypoth(uint32_t aIndex) const
Array of possible poses.
Definition playerc++.h:1550
uint32_t GetMapSizeX() const
Map X dimension (cells)
Definition playerc++.h:1521
uint32_t GetMapSizeY() const
Map Y dimension (cells)
Definition playerc++.h:1523
player_pose2d_t GetParticlePose(int index) const
Get the Pose of a particle.
LocalizeProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
uint32_t GetPendingCount() const
Number of pending (unprocessed) sensor readings.
Definition playerc++.h:1544
The LogProxy proxy provides access to a interface_log device.
Definition playerc++.h:1576
void SetFilename(const std::string aFilename)
Set the name of the logfile to write to.
int GetType() const
What kind of log device is this? Either PLAYER_LOG_TYPE_READ or PLAYER_LOG_TYPE_WRITE.
Definition playerc++.h:1594
int GetState() const
Is logging/playback enabled? Call QueryState() to fill it.
Definition playerc++.h:1597
void SetWriteState(int aState)
Start/stop (1/0) writing to the log file.
void SetReadState(int aState)
Start/stop (1/0) reading from the log file.
void SetState(int aState)
Start/stop (1/0) reading from or writing to the log file.
The map proxy provides access to a interface_map device.
Definition playerc++.h:1623
int8_t GetDataRange() const
Range of grid data (default: empty = -1, unknown = 0, occupied = +1)
Definition playerc++.h:1664
int8_t GetCell(int x, int y) const
Get the (x,y) cell.
Definition playerc++.h:1647
int GetCellIndex(int x, int y) const
Return the index of the (x,y) item in the cell array.
Definition playerc++.h:1643
void GetMap(int8_t *aMap) const
Occupancy for each cell.
Definition playerc++.h:1667
uint32_t GetHeight() const
Map size, in cells.
Definition playerc++.h:1658
double GetResolution() const
Map resolution, m/cell.
Definition playerc++.h:1651
The OpaqueProxy proxy provides an interface to a generic interface_opaque.
Definition playerc++.h:1681
uint32_t GetCount() const
How long is the data?
Definition playerc++.h:1699
void GetData(uint8_t *aDest) const
Opaque data.
Definition playerc++.h:1702
The PlannerProxy proxy provides an interface to a 2D motion interface_planner.
Definition playerc++.h:1721
player_pose2d_t GetCurrentWaypoint() const
Get the current waypoint.
Definition playerc++.h:1815
uint32_t GetPathDone() const
Have we arrived at the goal?
Definition playerc++.h:1756
int GetCurrentWaypointId() const
Current waypoint index (handy if you already have the list of waypoints).
Definition playerc++.h:1850
double GetWx() const
Current waypoint location (m)
Definition playerc++.h:1806
void SetStartPose(double aSx, double aSy, double aSa)
Set the start pose (sx, sy, sa)
player_pose2d_t GetWaypoint(uint32_t aIndex) const
Get the waypoint.
Definition playerc++.h:1836
player_pose2d_t GetPose() const
Get the current pose.
Definition playerc++.h:1773
double GetPathLength() const
Get straight-line distance along path.
Definition playerc++.h:1760
player_pose2d_t GetGoal() const
Get the goal.
Definition playerc++.h:1794
uint32_t GetPathValid() const
Did the planner find a valid path?
Definition playerc++.h:1753
double GetWy() const
Current waypoint location (m)
Definition playerc++.h:1809
uint32_t GetWaypointCount() const
Number of waypoints in the plan.
Definition playerc++.h:1854
void SetGoalPose(double aGx, double aGy, double aGa)
Set the goal pose (gx, gy, ga)
double GetWa() const
Current waypoint location (rad)
Definition playerc++.h:1812
The PlayerClient is used for communicating with the player server.
Definition playerclient.h:121
The Pointcloud3d proxy provides an interface to a pointcloud3d device.
Definition playerc++.h:1870
player_pointcloud3d_element_t GetPoint(uint32_t aIndex) const
return a particular scan value
Definition playerc++.h:1890
uint32_t GetCount() const
return the point count
Definition playerc++.h:1887
Pointcloud3dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
The Position1dProxy class is used to control a interface_position1d device.
Definition playerc++.h:1905
void GoTo(double aPos, double aVel)
Send a motor command for position control mode.
double GetVel() const
Get current velocity.
Definition playerc++.h:1984
void SetSpeed(double aVel)
Send a motor command for velocity control mode.
bool IsOverCurrent() const
Is the device over current limits?
Definition playerc++.h:2008
bool IsTrajComplete() const
Is the device finished moving?
Definition playerc++.h:2013
Position1dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
uint8_t GetStatus() const
Get device status.
Definition playerc++.h:1990
bool IsLimitMin() const
Is the device at the min limit?
Definition playerc++.h:1993
bool IsLimitMax() const
Is the device at the max limit?
Definition playerc++.h:2003
double GetPos() const
Get current position.
Definition playerc++.h:1981
void ResetOdometry()
Reset odometry to 0.
Definition playerc++.h:1968
void RequestGeom()
Get the device's geometry; it is read into the relevant class attributes.
bool IsEnabled() const
Is the device enabled?
Definition playerc++.h:2018
void SetOdometry(double aPos)
Sets the odometry to the pose aPos.
bool GetStall() const
Get whether or not the device is stalled.
Definition playerc++.h:1987
player_bbox3d_t GetSize() const
Accessor for the size (fill it in by calling RequestGeom)
Definition playerc++.h:1948
player_pose3d_t GetPose() const
Accessor for the pose (fill it in by calling RequestGeom)
Definition playerc++.h:1937
bool IsLimitCen() const
Is the device at the center limit?
Definition playerc++.h:1998
The Position2dProxy class is used to control a interface_position2d device.
Definition playerc++.h:2029
void SetSpeed(double aXSpeed, double aYSpeed, double aYawSpeed)
Send a motor command for velocity control mode.
void RequestGeom()
Get the device's geometry; it is read into the relevant class attributes.
void SetOdometry(double aX, double aY, double aYaw)
Sets the odometry to the pose (x, y, yaw).
bool GetStall() const
Is the device stalled?
Definition playerc++.h:2185
void GoTo(player_pose2d_t pos, player_pose2d_t vel)
Send a motor command for position control mode.
double GetXPos() const
Get the device's X position.
Definition playerc++.h:2167
void GoTo(player_pose2d_t pos)
Same as the previous GoTo(), but doesn't take speed.
Definition playerc++.h:2077
double GetYaw() const
Get the device's Yaw position (angle)
Definition playerc++.h:2173
void SetVelHead(double aXSpeed, double aYawHead)
Same as the previous SetVelHead(), but doesn't take the yspeed speed (so use this one for non-holonom...
Definition playerc++.h:2067
void SetCarlike(double aXSpeed, double aDriveAngle)
Sets command for carlike robot.
void SetSpeed(double aXSpeed, double aYawSpeed)
Same as the previous SetSpeed(), but doesn't take the yspeed speed (so use this one for non-holonomic...
Definition playerc++.h:2053
double GetYSpeed() const
Get the device's Y speed.
Definition playerc++.h:2179
void GoTo(double aX, double aY, double aYaw)
Same as the previous GoTo(), but only takes position arguments, no motion speed setting.
Definition playerc++.h:2082
player_bbox3d_t GetSize()
Accessor for the size (fill it in by calling RequestGeom)
Definition playerc++.h:2105
Position2dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
double GetXSpeed() const
Get the device's X speed.
Definition playerc++.h:2176
double GetYPos() const
Get the device's Y position.
Definition playerc++.h:2170
player_pose3d_t GetOffset()
Accessor for the robot's pose with respect to its.
Definition playerc++.h:2094
void SetVelHead(double aXSpeed, double aYSpeed, double aYawHead)
Send a motor command for velocity/heading control mode.
double GetYawSpeed() const
Get the device's angular (yaw) speed.
Definition playerc++.h:2182
void SetSpeed(player_pose2d_t vel)
Overloaded SetSpeed that takes player_pose2d_t as an argument.
Definition playerc++.h:2057
The Position3dProxy class is used to control a interface_position3d device.
Definition playerc++.h:2196
double GetXSpeed() const
Get device X speed.
Definition playerc++.h:2314
void SelectVelocityControl(int aMode)
Select velocity control mode.
void SetSpeed(double aXSpeed, double aYSpeed, double aZSpeed, double aYawSpeed)
Send a motor command for a planar robot.
Definition playerc++.h:2222
void RequestGeom()
Get the device's geometry; it is read into the relevant class attributes.
void SetOdometry(double aX, double aY, double aZ, double aRoll, double aPitch, double aYaw)
Sets the odometry to the pose (x, y, z, roll, pitch, yaw).
double GetYaw() const
Get device Yaw angle.
Definition playerc++.h:2311
Position3dProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
void GoTo(player_pose3d_t aPos, player_pose3d_t aVel)
Send a motor command for position control mode.
void SetSpeed(player_pose3d_t vel)
Overloaded SetSpeed that takes player_pose3d_t as input.
Definition playerc++.h:2236
void SetMotorEnable(bool aEnable)
Enable/disable the motors.
double GetXPos() const
Get device X position.
Definition playerc++.h:2296
void SetSpeed(double aXSpeed, double aYawSpeed)
Same as the previous SetSpeed(), but doesn't take the sideways speed (so use this one for non-holonom...
Definition playerc++.h:2232
double GetYawSpeed() const
Get device Yaw speed.
Definition playerc++.h:2329
void GoTo(double aX, double aY, double aZ, double aRoll, double aPitch, double aYaw)
Same as the previous GoTo(), but only takes position arguments, no motion speed setting.
Definition playerc++.h:2251
void SetSpeed(double aXSpeed, double aYSpeed, double aZSpeed, double aRollSpeed, double aPitchSpeed, double aYawSpeed)
Send a motor command for a planar robot.
double GetRollSpeed() const
Get device Roll speed.
Definition playerc++.h:2323
double GetPitchSpeed() const
Get device Pitch speed.
Definition playerc++.h:2326
double GetYSpeed() const
Get device Y speed.
Definition playerc++.h:2317
double GetPitch() const
Get device Pitch angle.
Definition playerc++.h:2308
void GoTo(player_pose3d_t aPos)
Same as the previous GoTo(), but does'n take vel argument.
Definition playerc++.h:2245
double GetZSpeed() const
Get device Z speed.
Definition playerc++.h:2320
double GetRoll() const
Get device Roll angle.
Definition playerc++.h:2305
double GetYPos() const
Get device Y position.
Definition playerc++.h:2299
void SetSpeed(double aXSpeed, double aYSpeed, double aYawSpeed)
simplified version of SetSpeed
Definition playerc++.h:2227
bool GetStall() const
Is the device stalled?
Definition playerc++.h:2332
double GetZPos() const
Get device Z position.
Definition playerc++.h:2302
The PowerProxy class controls a interface_power device.
Definition playerc++.h:2337
double GetPercent() const
Returns the percent of power.
Definition playerc++.h:2356
double GetJoules() const
Returns the joules.
Definition playerc++.h:2359
double GetCharge() const
Returns the current charge.
Definition playerc++.h:2353
bool GetCharging() const
Returns whether charging is taking place.
Definition playerc++.h:2365
The PtzProxy class is used to control a interface_ptz device.
Definition playerc++.h:2378
void SetSpeed(double aPanSpeed=0, double aTiltSpeed=0, double aZoomSpeed=0)
Specify new target velocities.
void SetCam(double aPan, double aTilt, double aZoom)
Change the camera state.
The RFIDProxy class is used to control a interface_rfid device.
Definition playerc++.h:2521
playerc_rfidtag_t GetRFIDTag(uint32_t aIndex) const
returns a RFID tag
Definition playerc++.h:2540
uint32_t GetTagsCount() const
returns the number of RFID tags
Definition playerc++.h:2538
The RangerProxy class is used to control a interface_ranger device.
Definition playerc++.h:2424
double GetIntensity(uint32_t aIndex) const
Get an intensity reading.
player_bbox3d_t GetDeviceSize() const
Return the device size.
Definition playerc++.h:2445
double GetAngularRes() const
Angular resolution of a scan (configured value)
Definition playerc++.h:2503
double GetMinAngle() const
Start angle of a scan (configured value)
Definition playerc++.h:2497
player_point_3d_t GetPoint(uint32_t aIndex) const
Get a point reading.
player_pose3d_t GetDevicePose() const
Return the device pose.
Definition playerc++.h:2443
void SetIntensityData(bool aEnable)
Turn intensity data on or off.
player_bbox3d_t GetElementSize(uint32_t aIndex) const
Return the size of an individual sensor.
void RequestConfigure()
Get the current ranger configuration; it is read into the relevant class attributes.
uint32_t GetPointCount() const
Return the number of point readings.
Definition playerc++.h:2460
uint32_t GetIntensityCount() const
Return the number of intensity readings.
Definition playerc++.h:2465
uint32_t GetElementCount() const
Return the individual range sensor count.
Definition playerc++.h:2440
double GetMaxAngle() const
Stop angle of a scan (configured value)
Definition playerc++.h:2500
uint32_t GetRangeCount() const
Return the number of range readings.
Definition playerc++.h:2453
double GetMinRange() const
Minimum detectable range of a scan (configured value)
Definition playerc++.h:2506
double GetFrequency() const
Scanning frequency (configured value)
Definition playerc++.h:2515
double GetRangeRes() const
Linear resolution (configured value)
Definition playerc++.h:2512
double GetMaxRange() const
Maximum detectable range of a scan (configured value)
Definition playerc++.h:2509
player_pose3d_t GetElementPose(uint32_t aIndex) const
Return the pose of an individual sensor.
void Configure(double aMinAngle, double aMaxAngle, double aAngularRes, double aMinRange, double aMaxRange, double aRangeRes, double aFrequency)
Configure the ranger scan pattern.
The SimulationProxy proxy provides access to a interface_simulation device.
Definition playerc++.h:2556
SimulationProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
void GetPose2d(char *identifier, double &x, double &y, double &a)
get the pose of an object in the simulator, identified by the std::string Returns 0 on success,...
void SetPose3d(char *identifier, double x, double y, double z, double roll, double pitch, double yaw)
set the 3D pose of an object in the simulator, identified by the std::string.
void GetPose3d(char *identifier, double &x, double &y, double &z, double &roll, double &pitch, double &yaw, double &time)
get the 3D pose of an object in the simulator, identified by the std::string Returns 0 on success,...
void GetProperty(char *identifier, char *name, void *value, size_t value_len)
Get a simulation property.
void SetPose2d(char *identifier, double x, double y, double a)
set the 2D pose of an object in the simulator, identified by the std::string.
void SetProperty(char *identifier, char *name, void *value, size_t value_len)
Set a simulation property.
The SonarProxy class is used to control a interface_sonar device.
Definition playerc++.h:2603
uint32_t GetPoseCount() const
Number of valid sonar poses.
Definition playerc++.h:2629
player_pose3d_t GetPose(uint32_t aIndex) const
Sonar poses (m,m,radians)
Definition playerc++.h:2632
double GetScan(uint32_t aIndex) const
return a particular scan value
Definition playerc++.h:2622
uint32_t GetCount() const
return the sensor count
Definition playerc++.h:2619
The SpeechProxy class is used to control a interface_speech device.
Definition playerc++.h:2651
The SpeechRecognition proxy provides access to a interface_speech_recognition device.
Definition playerc++.h:2676
SpeechRecognitionProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
std::string GetWord(uint32_t aWord) const
Accessor method for getting speech recognition data i.e. words.
Definition playerc++.h:2688
uint32_t GetCount(void) const
Gets the number of words.
Definition playerc++.h:2694
playerc_speechrecognition_t * mDevice
libplayerc data structure
Definition playerc++.h:2681
the Stereo proxy provides access to the interface_stereo device.
Definition playerc++.h:2705
uint32_t GetRightWidth() const
Right image width (pixels)
Definition playerc++.h:2762
void GetRightImage(uint8_t *aImage) const
Right image data This function copies the image data into the data buffer aImage.
Definition playerc++.h:2816
void DecompressLeft()
decompress the left image
Definition playerc++.h:2746
void SaveFrame(const std::string aPrefix, uint32_t aWidth, playerc_camera_t aDevice, uint8_t aIndex)
Save a frame.
uint32_t GetDisparityDepth() const
Disparity image color depth.
Definition playerc++.h:2757
void DecompressRight()
decompress the right image
Definition playerc++.h:2748
uint32_t GetDisparityCompression() const
Get the disparity image's compression type Currently supported compression types are:
Definition playerc++.h:2847
uint32_t GetLeftCompression() const
Get the left image's compression type Currently supported compression types are:
Definition playerc++.h:2837
uint32_t GetLeftWidth() const
Left image width (pixels)
Definition playerc++.h:2760
void GetLeftImage(uint8_t *aImage) const
Left image data This function copies the image data into the data buffer aImage.
Definition playerc++.h:2806
uint32_t GetRightCompression() const
Get the right image's compression type Currently supported compression types are:
Definition playerc++.h:2842
uint32_t GetRightDepth() const
Right image color depth.
Definition playerc++.h:2755
uint32_t GetRightImageSize() const
Size of the right image (bytes)
Definition playerc++.h:2798
uint32_t GetLeftHeight() const
Left image height (pixels)
Definition playerc++.h:2767
uint32_t GetLeftFormat() const
Image format Possible values include.
Definition playerc++.h:2779
void GetDisparityImage(uint8_t *aImage) const
Disparity image data This function copies the image data into the data buffer aImage.
Definition playerc++.h:2826
void SaveRightFrame(const std::string aPrefix, uint32_t aWidth=4)
Save the right frame.
Definition playerc++.h:2739
void SaveDisparityFrame(const std::string aPrefix, uint32_t aWidth=4)
Save the disparity frame.
Definition playerc++.h:2743
uint32_t GetRightFormat() const
Image format Possible values include.
Definition playerc++.h:2786
uint32_t GetCount() const
return the point count
Definition playerc++.h:2850
playerc_stereo_t * mDevice
libplayerc data structure
Definition playerc++.h:2711
uint32_t GetLeftImageSize() const
Size of the left image (bytes)
Definition playerc++.h:2796
uint32_t GetDisparityWidth() const
Disparity image width (pixels)
Definition playerc++.h:2764
player_pointcloud3d_stereo_element_t GetPoint(uint32_t aIndex) const
return a particular point value
Definition playerc++.h:2853
uint32_t GetRightHeight() const
Right image height (pixels)
Definition playerc++.h:2769
uint32_t GetDisparityFormat() const
Image format Possible values include.
Definition playerc++.h:2793
uint32_t GetDisparityImageSize() const
Size of the disparity image (bytes)
Definition playerc++.h:2800
uint32_t GetLeftDepth() const
Left image color depth.
Definition playerc++.h:2753
uint32_t GetDisparityHeight() const
Disparity image height (pixels)
Definition playerc++.h:2771
void DecompressDisparity()
decompress the disparity image
Definition playerc++.h:2750
void SaveLeftFrame(const std::string aPrefix, uint32_t aWidth=4)
Save the left frame.
Definition playerc++.h:2735
The VectorMapProxy class is used to interface to a vectormap.
Definition playerc++.h:2866
size_t GetFeatureDataCount(unsigned layer_index, unsigned feature_index) const
Get how long the feature data is for a layer and feature.
VectorMapProxy(PlayerClient *aPc, uint32_t aIndex=0)
Constructor.
int GetFeatureCount(unsigned layer_index) const
Get how many features are in a particular layer.
const uint8_t * GetFeatureData(unsigned layer_index, unsigned feature_index) const
Get the feature data for a layer and feature.
void GetMapInfo()
Request map information from the underlying device.
std::vector< std::string > GetLayerNames() const
Get the names of each of the layers.
void GetLayerData(unsigned layer_index)
Request data for a specific layer from the underlying device.
The WSNProxy class is used to control a interface_wsn device.
Definition playerc++.h:2957
void DataFreq(int nodeID, int groupID, float frequency)
Set WSN device frequency.
void SetDevState(int nodeID, int groupID, int devNr, int value)
Set a WSN device State.
uint32_t GetNodeType() const
Get the node's type.
Definition playerc++.h:2974
uint32_t GetNodeID() const
Get the node's ID.
Definition playerc++.h:2976
player_wsn_node_data_t GetNodeDataPacket() const
Get a WSN node packet.
Definition playerc++.h:2982
uint32_t GetNodeParentID() const
Get the node's parent ID.
Definition playerc++.h:2978
char * GetOwnIP() const
Get your current IP address.
Definition playerc++.h:2932
char * GetLinkESSID(int index) const
Get the ESSID from a particular link.
Definition playerc++.h:2938
double GetLinkFreq(int index) const
Get the frequency from a particular link.
Definition playerc++.h:2940
int GetLinkEncrypt(int index) const
Get whether a particular link is encrypted.
Definition playerc++.h:2944
int GetLinkCount() const
Get how many links the device sees.
Definition playerc++.h:2930
char * GetLinkMAC(int index) const
Get the MAC address from a particular link.
Definition playerc++.h:2936
const playerc_wifi_link_t * GetLink(int aLink)
Get the playerc wifi link data.
int GetLinkMode(int index) const
Get the connection mode from a particular link.
Definition playerc++.h:2942
int GetLinkLevel(int index) const
Get the signal level of a particular link.
Definition playerc++.h:2948
int GetLinkNoise(int index) const
Get the noise level of a particular link.
Definition playerc++.h:2950
int GetLinkQuality(int index) const
Get the quality of a particular link.
Definition playerc++.h:2946
char * GetLinkIP(int index) const
Get the IP address from a particular link.
Definition playerc++.h:2934
Definition playerclient.h:96
PLAYERC_EXPORT int playerc_localize_get_particles(playerc_localize_t *device)
Request the particle set.
A rectangular bounding box, used to define the size of an object.
Definition player.h:246
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
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
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
player_audio_wav_t wav_data
last block of recorded data
Definition playerc.h:1139
unsigned int blobs_count
A list of detected blobs.
Definition playerc.h:1354
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
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
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
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
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
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
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
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
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition playerc.h:3781
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles
Definition playerc.h:3776
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(* scan)[2]
Scan data; range (m) and bearing (radians).
Definition playerc.h:2192
double min_right
Minimum range, in meters, in the right half of the scan (those ranges from the first beam,...
Definition playerc.h:2211
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 pose[3]
Laser geometry in the robot cs: pose gives the position and orientation, size gives the extent.
Definition playerc.h:2161
double robot_pose[3]
Robot pose (m,m,rad), filled in if the scan came with a pose attached.
Definition playerc.h:2165
double scanning_frequency
Scanning frequency in Hz.
Definition playerc.h:2186
int pending_count
The number of pending (unprocessed) sensor readings.
Definition playerc.h:2425
int type
What kind of log device is this? Either PLAYER_LOG_TYPE_READ or PLAYER_LOG_TYPE_WRITE.
Definition playerc.h:2482
int state
Is logging/playback enabled? Call playerc_log_get_state() to fill it.
Definition playerc.h:2486
double origin[2]
Map origin, in meters (i.e., the real-world coordinates of cell 0,0)
Definition playerc.h:2547
int8_t data_range
Value for each cell (-range <= EMPTY < 0, unknown = 0, 0 < OCCUPIED <= range)
Definition playerc.h:2550
double(* waypoints)[3]
List of waypoints in the current plan (m,m,radians).
Definition playerc.h:2735
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
int status
Status bitfield of extra data in the following order:
Definition playerc.h:2823
double pose[3]
Robot geometry in robot cs: pose gives the position1d and orientation, size gives the extent.
Definition playerc.h:2800
double pose[3]
Robot geometry in robot cs: pose gives the position2d and orientation, size gives the extent.
Definition playerc.h:2894
double vel_roll
Angular velocity (radians/sec).
Definition playerc.h:3002
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
uint32_t ranges_count
Number of ranges in a scan.
Definition playerc.h:3260
uint16_t tags_count
The number of RFID tags found.
Definition playerc.h:3650
player_pose3d_t * poses
Pose of each sonar relative to robot (m, m, radians).
Definition playerc.h:3368
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