playerc_ranger_t Struct Reference

Ranger proxy data. More...

#include <playerc.h>

Collaboration diagram for playerc_ranger_t:

List of all members.


Detailed Description

Ranger proxy data.

Public Attributes

playerc_device_t info
 Device info; must be at the start of all device structures.
uint32_t element_count
 Number of individual elements in the device.
double min_angle
 Start angle of scans [rad].
double max_angle
 End angle of scans [rad].
double angular_res
 Scan resolution [rad].
double min_range
 Minimum range [m].
double max_range
 Maximum range [m].
double range_res
 Range resolution [m].
double frequency
 Scanning frequency [Hz].
player_pose3d_t device_pose
 Device geometry in the robot CS: pose gives the position and orientation, size gives the extent.
player_bbox3d_t device_size
player_pose3d_telement_poses
 Geometry of each individual element in the device (e.g.
player_bbox3d_telement_sizes
uint32_t ranges_count
 Number of ranges in a scan.
double * ranges
 Range data [m].
uint32_t intensities_count
 Number of intensities in a scan.
double * intensities
 Intensity data [m].
uint32_t bearings_count
 Number of scan bearings.
double * bearings
 Scan bearings in the XY plane [radians].
uint32_t points_count
 Number of scan points.
player_point_3d_tpoints
 Scan points (x, y, z).

Member Data Documentation

Scan resolution [rad].

May be unfilled.

Scan bearings in the XY plane [radians].

Note that for multi-element devices, these bearings will be from the pose of each element.

Number of scan bearings.

Device geometry in the robot CS: pose gives the position and orientation, size gives the extent.

These values are filled in by calling playerc_ranger_get_geom(), or from pose-stamped data.

Number of individual elements in the device.

Geometry of each individual element in the device (e.g.

a single sonar sensor in a sonar array). These values are filled in by calling playerc_ranger_get_geom(), or from pose-stamped data.

Scanning frequency [Hz].

May be unfilled.

Device info; must be at the start of all device structures.

Intensity data [m].

Note that this data may require setting of the suitable property on the driver to before it will be filled. Possible properties include intns_on for laser devices and volt_on for IR devices.

Number of intensities in a scan.

End angle of scans [rad].

May be unfilled.

Maximum range [m].

May be unfilled.

Start angle of scans [rad].

May be unfilled.

Minimum range [m].

Values below this are typically errors and should usually not be treated as valid data. May be unfilled.

Number of scan points.

Range resolution [m].

May be unfilled.

Range data [m].

Number of ranges in a scan.


The documentation for this struct was generated from the following file: