planner

A planar path-planner. More...


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 struct player_planner_data player_planner_data_t
 Data: state (PLAYER_PLANNER_DATA_STATE)
typedef struct player_planner_cmd player_planner_cmd_t
 Command: state (PLAYER_PLANNER_CMD_GOAL)
typedef struct
player_planner_waypoints_req 
player_planner_waypoints_req_t
 Request/reply: Get waypoints.
typedef struct
player_planner_enable_req 
player_planner_enable_req_t
 Request/reply: Enable/disable robot motion.

Typedef Documentation

Command: state (PLAYER_PLANNER_CMD_GOAL)

The planner interface accepts a new goal.

Data: state (PLAYER_PLANNER_DATA_STATE)

The planner interface reports the current execution state of the planner.

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.

Request/reply: Get waypoints.

To retrieve the list of waypoints, send a null PLAYER_PLANNER_REQ_GET_WAYPOINTS request.