sonar

DEPRECATED Array of ultrasonic rangers More...


Detailed Description

DEPRECATED Array of ultrasonic rangers

The sonar interface provides access to a collection of fixed range sensors, such as a sonar array.

This interface is deprecated. Use the ranger instead.

#define PLAYER_SONAR_REQ_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_SONAR_REQ_POWER   2
 Request/reply subtype: power.
#define PLAYER_SONAR_DATA_RANGES   1
 Data subtype: ranges.
#define PLAYER_SONAR_DATA_GEOM   2
 Data subtype: geometry.
typedef struct player_sonar_data player_sonar_data_t
 Data: ranges (PLAYER_SONAR_DATA_RANGES)
typedef struct player_sonar_geom player_sonar_geom_t
 Data AND Request/reply: geometry.
typedef struct
player_sonar_power_config 
player_sonar_power_config_t
 Request/reply: Sonar power.

Typedef Documentation

Data: ranges (PLAYER_SONAR_DATA_RANGES)

The sonar interface returns readings from a robot's sonars.

Data AND Request/reply: geometry.

To query the geometry of the sonar transducers, send a null PLAYER_SONAR_REQ_GET_GEOM request. Depending on the underlying driver, this message can also be sent as data with the subtype PLAYER_SONAR_DATA_GEOM.

Request/reply: Sonar power.

On some robots, the sonars can be turned on and off from software. To do so, send a PLAYER_SONAR_REQ_POWER request. Null response.