planner
[Interface specifications]
Collaboration diagram for planner:
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Detailed Description
A planar path-planner.
The planner interface provides control of a 2-D motion planner.
| #define | PLAYER_PLANNER_DATA_STATE 1 |
| Data subtype: state. | |
| #define | PLAYER_PLANNER_CMD_GOAL 1 |
| Command subtype: state. | |
| #define | PLAYER_PLANNER_REQ_GET_WAYPOINTS 1 |
| Request subtype: get waypoints. | |
| #define | PLAYER_PLANNER_REQ_ENABLE 2 |
| Request subtype: enable / disable planner. | |
| typedef player_planner_data | player_planner_data_t |
| Data: state (PLAYER_PLANNER_DATA_STATE). | |
| typedef player_planner_cmd | player_planner_cmd_t |
| Command: state (PLAYER_PLANNER_CMD_GOAL). | |
| typedef player_planner_waypoints_req | player_planner_waypoints_req_t |
| Request/reply: Get waypoints. | |
| typedef player_planner_enable_req | player_planner_enable_req_t |
| Request/reply: Enable/disable robot motion. |
Typedef Documentation
| typedef struct player_planner_cmd player_planner_cmd_t |
Command: state (PLAYER_PLANNER_CMD_GOAL).
The planner interface accepts a new goal.
| typedef struct player_planner_data player_planner_data_t |
Data: state (PLAYER_PLANNER_DATA_STATE).
The planner interface reports the current execution state of the planner.
| typedef struct player_planner_enable_req player_planner_enable_req_t |
Request/reply: Enable/disable robot motion.
To enable or disable the planner, send a PLAYER_PLANNER_REQ_ENABLE request. When disabled, the planner will stop the robot. When enabled, the planner should resume plan execution. Null response.
| typedef struct player_planner_waypoints_req player_planner_waypoints_req_t |
Request/reply: Get waypoints.
To retrieve the list of waypoints, send a null PLAYER_PLANNER_REQ_GET_WAYPOINTS request.