simulation
[Interface specifications]

Detailed Description

A robot simulator.

Player devices may either be real hardware or virtual devices generated by a simulator such as Stage or Gazebo. This interface provides direct access to a simulator.

This interface doesn't do much yet. It is in place to later support things like pausing and restarting the simulation clock, saving and loading, etc. It is documented because it is used by the stg_simulation driver; required by all stageclient drivers (stg_*).

Note: the Stage and Gazebo developers should confer on the best design for this interface. Suggestions welcome on playerstage-developers.

#define PLAYER_SIMULATION_IDENTIFIER_MAXLEN   64
 The maximum length of a string indentifying a simulation object or object property.
#define PLAYER_SIMULATION_REQ_SET_POSE2D   1
 Request/reply subtype: set 2D pose.
#define PLAYER_SIMULATION_REQ_GET_POSE2D   2
 Request/reply subtype: get 2D pose.
#define PLAYER_SIMULATION_REQ_SET_PROPERTY_INT   3
 Request/reply subtype: set integer property value.
#define PLAYER_SIMULATION_REQ_GET_PROPERTY_INT   4
 Request/reply subtype: get integer property value.
#define PLAYER_SIMULATION_REQ_SET_PROPERTY_FLOAT   5
 Request/reply subtype: set floating point property value.
#define PLAYER_SIMULATION_REQ_GET_PROPERTY_FLOAT   6
 Request/reply subtype: get floating point property value.
#define PLAYER_SIMULATION_REQ_SET_PROPERTY_STRING   7
 Request/reply subtype: set string property value.
#define PLAYER_SIMULATION_REQ_GET_PROPERTY_STRING   8
 Request/reply subtype: get string property value.
typedef player_simulation_data player_simulation_data_t
 Data.
typedef player_simulation_cmd player_simulation_cmd_t
 Command.
typedef player_simulation_pose2d_req player_simulation_pose2d_req_t
 Request/reply: get/set 2D pose of a named simulation object.
typedef player_simulation_property_int_req player_simulation_property_int_req_t
 Request/reply: get/set integer property of a named simulation object.
typedef player_simulation_property_float_req player_simulation_property_float_req_t
 Request/reply: get/set floating-point property of a named simulation object.
typedef player_simulation_property_string_req player_simulation_property_string_req_t
 Request/reply: get/set string property of a named simulation object.

Typedef Documentation

typedef struct player_simulation_cmd player_simulation_cmd_t
 

Command.

Just a placeholder for now; data will be added in future.

typedef struct player_simulation_data player_simulation_data_t
 

Data.

Just a placeholder for now; data will be added in future.

typedef struct player_simulation_pose2d_req player_simulation_pose2d_req_t
 

Request/reply: get/set 2D pose of a named simulation object.

To retrieve the pose of an object in a simulator, send a null PLAYER_SIMULATION_REQ_GET_POSE2D request. To set the pose of an object in a simulator, send a PLAYER_SIMULATION_REQ_SET_POSE2D request (response will be null).

typedef struct player_simulation_property_float_req player_simulation_property_float_req_t
 

Request/reply: get/set floating-point property of a named simulation object.

Behaves identically to the integer version, but for double-precision floating-pont values.

typedef struct player_simulation_property_int_req player_simulation_property_int_req_t
 

Request/reply: get/set integer property of a named simulation object.

To retrieve an integer property of an object in a simulator, send a PLAYER_SIMULATION_REQ_GET_PROPERTY_INT request. The server will reply with the integer value filled in. To set a integer property, send a completely filled in PLAYER_SIMULATION_REQ_SET_PROPERTY_INT request. The server will respond with an ACK if the property was successfully set to your value, else a NACK.

typedef struct player_simulation_property_string_req player_simulation_property_string_req_t
 

Request/reply: get/set string property of a named simulation object.

Behaves identically to the integer version, but for strings.

Last updated 12 September 2005 21:38:45