position3d

A robot that moves in 3-D. More...


Detailed Description

A robot that moves in 3-D.

The position3d interface is used to control mobile robot bases in 3D (i.e., pitch and roll are important).

#define PLAYER_POSITION3D_DATA_STATE   1
 Data subtype: state.
#define PLAYER_POSITION3D_DATA_GEOMETRY   2
 Data subtype: geometry.
#define PLAYER_POSITION3D_CMD_SET_VEL   1
 Command subtype: velocity control.
#define PLAYER_POSITION3D_CMD_SET_POS   2
 Command subtype: position control.
#define PLAYER_POSITION3D_REQ_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_POSITION3D_REQ_MOTOR_POWER   2
 Request/reply subtype: motor power.
#define PLAYER_POSITION3D_REQ_VELOCITY_MODE   3
 Request/reply subtype: velocity mode.
#define PLAYER_POSITION3D_REQ_POSITION_MODE   4
 Request/reply subtype: position mode.
#define PLAYER_POSITION3D_REQ_RESET_ODOM   5
 Request/reply subtype: reset odometry.
#define PLAYER_POSITION3D_REQ_SET_ODOM   6
 Request/reply subtype: set odometry.
#define PLAYER_POSITION3D_REQ_SPEED_PID   7
 Request/reply subtype: set speed PID params.
#define PLAYER_POSITION3D_REQ_POSITION_PID   8
 Request/reply subtype: set position PID params.
#define PLAYER_POSITION3D_REQ_SPEED_PROF   9
 Request/reply subtype: set speed profile params.
typedef struct
player_position3d_data 
player_position3d_data_t
 Data: state (PLAYER_POSITION3D_DATA_STATE)
typedef struct
player_position3d_cmd_pos 
player_position3d_cmd_pos_t
 Command: position (PLAYER_POSITION3D_CMD_SET_POS)
typedef struct
player_position3d_cmd_vel 
player_position3d_cmd_vel_t
 Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)
typedef struct
player_position3d_geom 
player_position3d_geom_t
 Request/reply: Query geometry.
typedef struct
player_position3d_power_config 
player_position3d_power_config_t
 Request/reply: Motor power.
typedef struct
player_position3d_position_mode_req 
player_position3d_position_mode_req_t
 Request/reply: Change position control.
typedef struct
player_position3d_velocity_mode_config 
player_position3d_velocity_mode_config_t
 Request/reply: Change velocity control.
typedef struct
player_position3d_set_odom_req 
player_position3d_set_odom_req_t
 Request/reply: Set odometry.
typedef struct
player_position3d_speed_pid_req 
player_position3d_speed_pid_req_t
 Request/reply: Reset odometry.
typedef struct
player_position3d_position_pid_req 
player_position3d_position_pid_req_t
 Request/reply: Set position PID parameters.
typedef struct
player_position3d_speed_prof_req 
player_position3d_speed_prof_req_t
 Request/reply: Set speed profile parameters.

Typedef Documentation

Command: position (PLAYER_POSITION3D_CMD_SET_POS)

It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both).

Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)

It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both).

Data: state (PLAYER_POSITION3D_DATA_STATE)

This interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information.

Request/reply: Query geometry.

To request robot geometry, send a null PLAYER_POSITION3D_REQ_GET_GEOM request.

Request/reply: Change position control.

To change control mode, send a PLAYER_POSITION3D_REQ_POSITION_MODE request. Null response.

Request/reply: Set position PID parameters.

To set position PID parameters, send a PLAYER_POSITION3D_REQ_POSITION_PID request. Null response.

Request/reply: Motor power.

On some robots, the motor power can be turned on and off from software. To do so, send a PLAYER_POSITION3D_REQ_MOTOR_POWER request with the format given below, and with the appropriate state (zero for motors off and non-zero for motors on). Null response.

Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.

Request/reply: Set odometry.

To set the robot's odometry to a particular state, send a PLAYER_POSITION3D_REQ_SET_ODOM request. Null response.

Request/reply: Reset odometry.

To reset the robot's odometry to $(x,y,\theta) = (0,0,0)$, send a PLAYER_POSITION3D_REQ_RESET_ODOM request. Null response. Request/reply: Set velocity PID parameters.

To set velocity PID parameters, send a PLAYER_POSITION3D_REQ_SPEED_PID request. Null response.

Request/reply: Set speed profile parameters.

To set speed profile parameters, send a PLAYER_POSITION3D_REQ_SPEED_PROF request. Null response.

Request/reply: Change velocity control.

Some robots offer different velocity control modes. It can be changed by sending a PLAYER_POSITION3D_REQ_VELOCITY_MODE request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position3d device remains the same. Null response.