player_interfaces.h
1 /* START OF AUTOGENERATED CODE */
2 /* This file or section was automatically generated by playerinterfacegen.py
3 To modify the interfaces in this file please edit their interface definition in libplayerinterface/interfaces/ */
4 
7 #define PLAYER_PLAYER_CODE 1
8 
11 #define PLAYER_PLAYER_STRING "player"
12 
13 // /////////////////////////////////////////////////////////////////////////////
32 #define PLAYER_PLAYER_REQ_DEVLIST 1
33 
35 #define PLAYER_PLAYER_REQ_DRIVERINFO 2
36 
38 #define PLAYER_PLAYER_REQ_DEV 3
39 
46 #define PLAYER_PLAYER_REQ_DATA 4
47 
48 
49 #define PLAYER_PLAYER_REQ_DATAMODE 5
50 
51 
52 #define PLAYER_PLAYER_REQ_AUTH 7
53 
54 
55 #define PLAYER_PLAYER_REQ_NAMESERVICE 8
56 
57 
58 #define PLAYER_PLAYER_REQ_ADD_REPLACE_RULE 10
59 
60 
61 #define PLAYER_PLAYER_SYNCH_OK 1
62 
63 
64 #define PLAYER_PLAYER_SYNCH_OVERFLOW 2
65 
66 
67 
69 #define PLAYER_OPEN_MODE 1
70 
71 #define PLAYER_CLOSE_MODE 2
72 
73 #define PLAYER_ERROR_MODE 3
74 
75 
78 #define PLAYER_DATAMODE_PUSH 1
79 
83 #define PLAYER_DATAMODE_PULL 2
84 
85 
86 
89 #define PLAYER_PLAYER_MSG_REPLACE_RULE_ACCEPT 0
90 #define PLAYER_PLAYER_MSG_REPLACE_RULE_REPLACE 1
91 #define PLAYER_PLAYER_MSG_REPLACE_RULE_IGNORE 2
92 
99 typedef struct player_device_devlist
100 {
102  uint32_t devices_count;
106 
114 {
120  char driver_name[PLAYER_MAX_DRIVER_STRING_LEN];
122 
140 typedef struct player_device_req
141 {
145  uint8_t access;
149  char driver_name[PLAYER_MAX_DRIVER_STRING_LEN];
151 
152 
160 {
162  uint8_t mode;
163 
165 
166 
199 {
201  uint32_t auth_key_count;
203  uint8_t auth_key[PLAYER_KEYLEN];
204 
206 
207 
213 {
215  uint32_t name_count;
219  uint16_t port;
221 
233 {
235  int32_t interf;
237  int32_t index;
239  int32_t type;
241  int32_t subtype;
243  int32_t replace ;
245 
246 
252 #define PLAYER_POWER_CODE 2
253 
256 #define PLAYER_POWER_STRING "power"
257 
258 // /////////////////////////////////////////////////////////////////////////////
274 #define PLAYER_POWER_DATA_STATE 1
275 
277 #define PLAYER_POWER_REQ_SET_CHARGING_POLICY 1
278 
279 
280 
282 #define PLAYER_POWER_MASK_VOLTS 1
283 #define PLAYER_POWER_MASK_WATTS 2
284 #define PLAYER_POWER_MASK_JOULES 4
285 #define PLAYER_POWER_MASK_PERCENT 8
286 #define PLAYER_POWER_MASK_CHARGING 16
287 
291 typedef struct player_power_data
292 {
296  uint32_t valid;
297 
299  float volts;
301  float percent;
303  float joules;
306  float watts;
311  int32_t charging;
312 
314 
315 
321 {
324  uint8_t enable_input;
327  uint8_t enable_output;
329 
330 
331 
337 #define PLAYER_GRIPPER_CODE 3
338 
341 #define PLAYER_GRIPPER_STRING "gripper"
342 
343 // /////////////////////////////////////////////////////////////////////////////
365 #define PLAYER_GRIPPER_DATA_STATE 1
366 
368 #define PLAYER_GRIPPER_REQ_GET_GEOM 1
369 
373 #define PLAYER_GRIPPER_CMD_OPEN 1
374 
378 #define PLAYER_GRIPPER_CMD_CLOSE 2
379 
383 #define PLAYER_GRIPPER_CMD_STOP 3
384 
388 #define PLAYER_GRIPPER_CMD_STORE 4
389 
394 #define PLAYER_GRIPPER_CMD_RETRIEVE 5
395 
396 
397 
399 #define PLAYER_GRIPPER_STATE_OPEN 1
400 
401 #define PLAYER_GRIPPER_STATE_CLOSED 2
402 
403 #define PLAYER_GRIPPER_STATE_MOVING 3
404 
405 #define PLAYER_GRIPPER_STATE_ERROR 4
406 
407 
418 typedef struct player_gripper_data
419 {
421  uint8_t state;
423  uint32_t beams;
425  uint8_t stored;
427 
433 typedef struct player_gripper_geom
434 {
443  uint8_t num_beams;
445  uint8_t capacity;
447 
448 
449 
450 
451 
452 
453 
459 #define PLAYER_POSITION2D_CODE 4
460 
463 #define PLAYER_POSITION2D_STRING "position2d"
464 
465 // /////////////////////////////////////////////////////////////////////////////
483 #define PLAYER_POSITION2D_REQ_GET_GEOM 1
484 
496 #define PLAYER_POSITION2D_REQ_MOTOR_POWER 2
497 
522 #define PLAYER_POSITION2D_REQ_VELOCITY_MODE 3
523 
529 #define PLAYER_POSITION2D_REQ_POSITION_MODE 4
530 
535 #define PLAYER_POSITION2D_REQ_SET_ODOM 5
536 
541 #define PLAYER_POSITION2D_REQ_RESET_ODOM 6
542 
548 #define PLAYER_POSITION2D_REQ_SPEED_PID 7
549 
556 #define PLAYER_POSITION2D_REQ_POSITION_PID 8
557 
562 #define PLAYER_POSITION2D_REQ_SPEED_PROF 9
563 
568 #define PLAYER_POSITION2D_DATA_STATE 1
569 
574 #define PLAYER_POSITION2D_DATA_GEOM 2
575 
581 #define PLAYER_POSITION2D_CMD_VEL 1
582 
588 #define PLAYER_POSITION2D_CMD_POS 2
589 
594 #define PLAYER_POSITION2D_CMD_CAR 3
595 
599 #define PLAYER_POSITION2D_CMD_VEL_HEAD 4
600 
601 
602 
603 
604 
607 {
613  uint8_t stall;
615 
618 {
622  uint8_t state;
624 
627 {
633  uint8_t state;
635 
638 {
640  double velocity;
642  double angle;
644 
647 {
649  double velocity;
651  double angle;
653 
656 {
662 
665 {
667  uint8_t state;
669 
672 {
674  uint32_t value;
676 
677 
680 {
682  uint32_t state;
684 
687 {
691 
694 {
696  float kp;
698  float ki;
700  float kd;
702 
705 {
707  float kp;
709  float ki;
711  float kd;
713 
716 {
718  float speed;
720  float acc;
731 #define PLAYER_SONAR_CODE 5
732 
735 #define PLAYER_SONAR_STRING "sonar"
736 
737 // /////////////////////////////////////////////////////////////////////////////
755 #define PLAYER_SONAR_REQ_GET_GEOM 1
756 
758 #define PLAYER_SONAR_REQ_POWER 2
759 
761 #define PLAYER_SONAR_DATA_RANGES 1
762 
764 #define PLAYER_SONAR_DATA_GEOM 2
765 
766 
767 
771 typedef struct player_sonar_data
772 {
774  uint32_t ranges_count;
776  float *ranges;
778 
785 typedef struct player_sonar_geom
786 {
788  uint32_t poses_count;
792 
798 {
800  uint8_t state;
802 
811 #define PLAYER_LASER_CODE 6
812 
815 #define PLAYER_LASER_STRING "laser"
816 
817 // /////////////////////////////////////////////////////////////////////////////
845 #define PLAYER_LASER_DATA_SCAN 1
846 
848 #define PLAYER_LASER_DATA_SCANPOSE 2
849 
851 #define PLAYER_LASER_DATA_SCANANGLE 3
852 
854 #define PLAYER_LASER_REQ_GET_GEOM 1
855 
857 #define PLAYER_LASER_REQ_SET_CONFIG 2
858 
860 #define PLAYER_LASER_REQ_GET_CONFIG 3
861 
863 #define PLAYER_LASER_REQ_POWER 4
864 
866 #define PLAYER_LASER_REQ_GET_ID 5
867 
869 #define PLAYER_LASER_REQ_SET_FILTER 6
870 
871 
872 
874 #define PLAYER_LASER_MAX_FILTER_PARAMS 8
875 #define PLAYER_LASER_FILTER_MEDIAN 1
876 #define PLAYER_LASER_FILTER_EDGE 2
877 #define PLAYER_LASER_FILTER_RANGE 3
878 #define PLAYER_LASER_FILTER_MEAN 4
879 
883 typedef struct player_laser_data
884 {
886  float min_angle;
888  float max_angle;
890  float resolution;
892  float max_range;
894  uint32_t ranges_count;
896  float *ranges;
898  uint32_t intensity_count;
900  uint8_t *intensity;
902  uint32_t id;
904 
910 {
916 
921 {
923  float max_range;
925  uint32_t ranges_count;
927  float *ranges;
929  uint32_t angles_count;
931  float *angles;
933  uint32_t intensity_count;
935  uint8_t *intensity;
937  uint32_t id;
939 
940 
945 typedef struct player_laser_geom
946 {
952 
961 typedef struct player_laser_config
962 {
964  float min_angle;
966  float max_angle;
968  float resolution;
970  float max_range;
972  float range_res;
974  uint8_t intensity;
978 
984 {
986  uint8_t state;
988 
994 {
996  uint32_t serial_number;
998 
1017 {
1019  uint8_t filter_type;
1025 
1026 
1027 
1033 #define PLAYER_BLOBFINDER_CODE 7
1034 
1037 #define PLAYER_BLOBFINDER_STRING "blobfinder"
1038 
1039 // /////////////////////////////////////////////////////////////////////////////
1055 #define PLAYER_BLOBFINDER_DATA_BLOBS 1
1056 
1057 
1058 #define PLAYER_BLOBFINDER_REQ_SET_COLOR 1
1059 
1060 
1061 #define PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS 2
1062 
1063 
1064 #define PLAYER_BLOBFINDER_REQ_GET_COLOR 3
1065 
1066 
1069 {
1071  uint32_t id;
1074  uint32_t color;
1076  uint32_t area;
1078  uint32_t x;
1080  uint32_t y;
1082  uint32_t left;
1084  uint32_t right;
1086  uint32_t top;
1088  uint32_t bottom;
1090  float range;
1092 
1097 {
1099  uint32_t width;
1101  uint32_t height;
1103  uint32_t blobs_count;
1107 
1108 
1119 {
1123  uint32_t channel;
1125  uint32_t rmin;
1127  uint32_t rmax;
1129  uint32_t gmin;
1131  uint32_t gmax;
1133  uint32_t bmin;
1135  uint32_t bmax;
1137 
1138 
1154 {
1156  int32_t brightness;
1158  int32_t contrast;
1163  int32_t colormode;
1165  int32_t autogain;
1167 
1168 
1169 
1175 #define PLAYER_PTZ_CODE 8
1176 
1179 #define PLAYER_PTZ_STRING "ptz"
1180 
1181 // /////////////////////////////////////////////////////////////////////////////
1196 #define PLAYER_PTZ_REQ_GENERIC 1
1197 
1199 #define PLAYER_PTZ_REQ_CONTROL_MODE 2
1200 
1202 #define PLAYER_PTZ_REQ_GEOM 4
1203 
1205 #define PLAYER_PTZ_REQ_STATUS 5
1206 
1208 #define PLAYER_PTZ_DATA_STATE 1
1209 
1211 #define PLAYER_PTZ_DATA_GEOM 2
1212 
1214 #define PLAYER_PTZ_CMD_STATE 1
1215 
1216 
1217 
1219 #define PLAYER_PTZ_VELOCITY_CONTROL 0
1220 
1221 #define PLAYER_PTZ_POSITION_CONTROL 1
1222 
1223 
1228 typedef struct player_ptz_data
1229 {
1231  float pan;
1233  float tilt;
1235  float zoom;
1237  float panspeed;
1239  float tiltspeed;
1241  uint32_t status;
1243 
1248 typedef struct player_ptz_cmd
1249 {
1251  float pan;
1253  float tilt;
1255  float zoom;
1257  float panspeed;
1259  float tiltspeed;
1261 
1266 {
1267  uint32_t status;
1269 
1273 typedef struct player_ptz_geom
1274 {
1280 
1288 {
1290  uint32_t config_count;
1292  uint32_t *config;
1294 
1302 {
1305  uint32_t mode;
1307 
1308 
1314 #define PLAYER_AUDIO_CODE 9
1315 
1318 #define PLAYER_AUDIO_STRING "audio"
1319 
1320 // /////////////////////////////////////////////////////////////////////////////
1344 #define PLAYER_AUDIO_DATA_WAV_REC 1
1345 
1349 #define PLAYER_AUDIO_DATA_SEQ 2
1350 
1354 #define PLAYER_AUDIO_DATA_MIXER_CHANNEL 3
1355 
1359 #define PLAYER_AUDIO_DATA_STATE 4
1360 
1364 #define PLAYER_AUDIO_CMD_WAV_PLAY 1
1365 
1369 #define PLAYER_AUDIO_CMD_WAV_STREAM_REC 2
1370 
1374 #define PLAYER_AUDIO_CMD_SAMPLE_PLAY 3
1375 
1379 #define PLAYER_AUDIO_CMD_SEQ_PLAY 4
1380 
1384 #define PLAYER_AUDIO_CMD_MIXER_CHANNEL 5
1385 
1389 #define PLAYER_AUDIO_REQ_WAV_REC 1
1390 
1394 #define PLAYER_AUDIO_REQ_SAMPLE_LOAD 2
1395 
1399 #define PLAYER_AUDIO_REQ_SAMPLE_RETRIEVE 3
1400 
1404 #define PLAYER_AUDIO_REQ_SAMPLE_REC 4
1405 
1409 #define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LIST 5
1410 
1414 #define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LEVEL 6
1415 
1416 
1417 
1420 #define PLAYER_AUDIO_STATE_STOPPED 0x00
1421 #define PLAYER_AUDIO_STATE_PLAYING 0x01
1422 #define PLAYER_AUDIO_STATE_RECORDING 0x02
1423 
1427 #define PLAYER_AUDIO_DESCRIPTION_BITS 0xFF
1428 #define PLAYER_AUDIO_BITS 0x03
1429 
1430 #define PLAYER_AUDIO_8BIT 0
1431 
1432 #define PLAYER_AUDIO_16BIT 1
1433 
1434 #define PLAYER_AUDIO_24BIT 2
1435 
1436 #define PLAYER_AUDIO_MONO 0
1437 
1438 #define PLAYER_AUDIO_STEREO 4
1439 
1440 #define PLAYER_AUDIO_FREQ 0x18
1441 #define PLAYER_AUDIO_FREQ_44k 0
1442 #define PLAYER_AUDIO_FREQ_11k 8
1443 #define PLAYER_AUDIO_FREQ_22k 16
1444 #define PLAYER_AUDIO_FREQ_48k 24
1445 
1447 #define PLAYER_AUDIO_FORMAT_BITS 0xFF00
1448 
1449 #define PLAYER_AUDIO_FORMAT_NULL 0x0000
1450 #define PLAYER_AUDIO_FORMAT_RAW 0x0100
1451 #define PLAYER_AUDIO_FORMAT_MP3 0x0200
1452 #define PLAYER_AUDIO_FORMAT_OGG 0x0300
1453 #define PLAYER_AUDIO_FORMAT_FLAC 0x0400
1454 #define PLAYER_AUDIO_FORMAT_AAC 0x0500
1455 
1456 
1457 
1463 typedef struct player_audio_wav
1464 {
1466  uint32_t data_count;
1468  uint8_t *data;
1470  uint32_t format;
1472 
1473 
1482 {
1484  float freq;
1486  float duration;
1488  float amplitude;
1492 
1493 
1499 typedef struct player_audio_seq
1500 {
1502  uint32_t tones_count;
1506 
1507 
1514 {
1516  float amplitude;
1520  uint32_t index;
1522 
1523 
1524 
1531 {
1533  uint32_t channels_count;
1537 
1538 
1539 
1541 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_INPUT 1
1542 
1543 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_OUTPUT 2
1544 
1545 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_SPECIAL 4
1546 
1553 {
1555  uint32_t name_count;
1557  char *name;
1559  uint8_t caps;
1561 
1562 
1563 
1570 {
1572  uint32_t details_count;
1578  int32_t default_input;
1580 
1581 
1582 
1589 typedef struct player_audio_sample
1590 {
1594  int32_t index;
1596 
1603 {
1605  int32_t index;
1607 
1614 {
1617  int32_t index;
1619  uint32_t length;
1621 
1628 typedef struct player_audio_state
1629 {
1631  uint32_t state;
1633 
1634 
1640 #define PLAYER_FIDUCIAL_CODE 10
1641 
1644 #define PLAYER_FIDUCIAL_STRING "fiducial"
1645 
1646 // /////////////////////////////////////////////////////////////////////////////
1663 #define PLAYER_FIDUCIAL_DATA_SCAN 1
1664 
1665 
1666 #define PLAYER_FIDUCIAL_REQ_GET_GEOM 1
1667 
1668 
1669 #define PLAYER_FIDUCIAL_REQ_GET_FOV 2
1670 
1671 
1672 #define PLAYER_FIDUCIAL_REQ_SET_FOV 3
1673 
1674 
1675 #define PLAYER_FIDUCIAL_REQ_GET_ID 7
1676 
1677 
1678 #define PLAYER_FIDUCIAL_REQ_SET_ID 8
1679 
1680 
1685 typedef struct player_fiducial_item
1686 {
1689  int32_t id;
1695 
1696 
1700 typedef struct player_fiducial_data
1701 {
1706 
1708 
1714 typedef struct player_fiducial_geom
1715 {
1723 
1730 typedef struct player_fiducial_fov
1731 {
1733  float min_range;
1735  float max_range;
1737  float view_angle;
1739 
1755 typedef struct player_fiducial_id
1756 {
1758  uint32_t id;
1760 
1761 
1762 
1768 #define PLAYER_SPEECH_CODE 12
1769 
1772 #define PLAYER_SPEECH_STRING "speech"
1773 
1774 // /////////////////////////////////////////////////////////////////////////////
1789 #define PLAYER_SPEECH_CMD_SAY 1
1790 
1791 
1792 
1797 typedef struct player_speech_cmd
1798 {
1800  uint32_t string_count;
1802  char *string;
1804 
1805 
1806 
1812 #define PLAYER_GPS_CODE 13
1813 
1816 #define PLAYER_GPS_STRING "gps"
1817 
1818 // /////////////////////////////////////////////////////////////////////////////
1834 #define PLAYER_GPS_DATA_STATE 1
1835 
1836 
1841 typedef struct player_gps_data
1842 {
1844  uint32_t time_sec;
1846  uint32_t time_usec;
1850  int32_t latitude;
1854  int32_t longitude;
1857  int32_t altitude;
1859  double speed;
1862  double course;
1864  double utm_e;
1866  double utm_n;
1868  uint32_t quality;
1870  uint32_t num_sats;
1872  uint32_t hdop;
1874  uint32_t vdop;
1876  double err_horz;
1878  double err_vert;
1880 
1881 
1882 
1888 #define PLAYER_BUMPER_CODE 14
1889 
1892 #define PLAYER_BUMPER_STRING "bumper"
1893 
1894 // /////////////////////////////////////////////////////////////////////////////
1910 #define PLAYER_BUMPER_DATA_STATE 1
1911 
1912 
1913 #define PLAYER_BUMPER_DATA_GEOM 2
1914 
1915 
1916 #define PLAYER_BUMPER_REQ_GET_GEOM 1
1917 
1918 
1922 typedef struct player_bumper_data
1923 {
1925  uint32_t bumpers_count;
1927  uint8_t *bumpers;
1929 
1931 typedef struct player_bumper_define
1932 {
1936  float length;
1938  float radius;
1940 
1948 typedef struct player_bumper_geom
1949 {
1955 
1956 
1957 
1963 #define PLAYER_DIO_CODE 20
1964 
1967 #define PLAYER_DIO_STRING "dio"
1968 
1969 // /////////////////////////////////////////////////////////////////////////////
1984 #define PLAYER_DIO_DATA_VALUES 1
1985 
1986 
1987 #define PLAYER_DIO_CMD_VALUES 1
1988 
1989 
1994 typedef struct player_dio_data
1995 {
1997  uint32_t count;
1999  uint32_t bits;
2001 
2006 typedef struct player_dio_cmd
2007 {
2009  uint32_t count;
2011  uint32_t digout;
2013 
2022 #define PLAYER_AIO_CODE 21
2023 
2026 #define PLAYER_AIO_STRING "aio"
2027 
2028 // /////////////////////////////////////////////////////////////////////////////
2043 #define PLAYER_AIO_CMD_STATE 1
2044 
2045 
2046 #define PLAYER_AIO_DATA_STATE 1
2047 
2048 
2053 typedef struct player_aio_data
2054 {
2056  uint32_t voltages_count;
2058  float *voltages;
2060 
2064 typedef struct player_aio_cmd
2065 {
2067  uint32_t id;
2069  float voltage;
2071 
2072 
2078 #define PLAYER_IR_CODE 22
2079 
2082 #define PLAYER_IR_STRING "ir"
2083 
2084 // /////////////////////////////////////////////////////////////////////////////
2102 #define PLAYER_IR_REQ_POSE 1
2103 
2105 #define PLAYER_IR_REQ_POWER 2
2106 
2108 #define PLAYER_IR_DATA_RANGES 1
2109 
2110 
2111 
2115 typedef struct player_ir_data
2116 {
2118  uint32_t voltages_count;
2120  float *voltages;
2122  uint32_t ranges_count;
2124  float *ranges;
2126 
2130 typedef struct player_ir_pose
2131 {
2133  uint32_t poses_count;
2137 
2142 typedef struct player_ir_power_req
2143 {
2145  uint8_t state;
2147 
2148 
2154 #define PLAYER_WIFI_CODE 23
2155 
2158 #define PLAYER_WIFI_STRING "wifi"
2159 
2160 // /////////////////////////////////////////////////////////////////////////////
2176 #define PLAYER_WIFI_REQ_MAC 1
2177 
2179 #define PLAYER_WIFI_REQ_IWSPY_ADD 2
2180 
2182 #define PLAYER_WIFI_REQ_IWSPY_DEL 3
2183 
2185 #define PLAYER_WIFI_REQ_IWSPY_PING 4
2186 
2188 #define PLAYER_WIFI_DATA_STATE 1
2189 
2190 
2191 
2193 #define PLAYER_WIFI_QUAL_DBM 1
2194 
2195 #define PLAYER_WIFI_QUAL_REL 2
2196 
2197 #define PLAYER_WIFI_QUAL_UNKNOWN 3
2198 
2200 #define PLAYER_WIFI_MODE_UNKNOWN 0
2201 
2202 #define PLAYER_WIFI_MODE_AUTO 1
2203 
2204 #define PLAYER_WIFI_MODE_ADHOC 2
2205 
2206 #define PLAYER_WIFI_MODE_INFRA 3
2207 
2208 #define PLAYER_WIFI_MODE_MASTER 4
2209 
2210 #define PLAYER_WIFI_MODE_REPEAT 5
2211 
2212 #define PLAYER_WIFI_MODE_SECOND 6
2213 
2219 typedef struct player_wifi_link
2220 {
2222  uint32_t mac_count;
2223  uint8_t mac[32];
2225  uint32_t ip_count;
2226  uint8_t ip[32];
2228  uint32_t essid_count;
2229  uint8_t essid[32];
2231  uint32_t mode;
2233  uint32_t freq;
2235  uint32_t encrypt;
2237  uint32_t qual;
2239  uint32_t level;
2241  uint32_t noise;
2243 
2247 typedef struct player_wifi_data
2248 {
2250  uint32_t links_count;
2254  uint32_t throughput;
2256  uint32_t bitrate;
2258  uint32_t mode;
2260  uint32_t qual_type;
2262  uint32_t maxqual;
2264  uint32_t maxlevel;
2266  uint32_t maxnoise;
2268  char ap[32];
2270 
2272 typedef struct player_wifi_mac_req
2273 {
2275  uint32_t mac_count;
2276  uint8_t mac[32];
2278 
2281 {
2283  char address[32];
2285 
2286 
2287 
2293 #define PLAYER_LOCALIZE_CODE 25
2294 
2297 #define PLAYER_LOCALIZE_STRING "localize"
2298 
2299 // /////////////////////////////////////////////////////////////////////////////
2320 #define PLAYER_LOCALIZE_DATA_HYPOTHS 1
2321 
2323 #define PLAYER_LOCALIZE_REQ_SET_POSE 1
2324 
2326 #define PLAYER_LOCALIZE_REQ_GET_PARTICLES 2
2327 
2328 
2329 
2336 {
2342  double cov[6];
2344  double alpha;
2346 
2351 typedef struct player_localize_data
2352 {
2354  uint32_t pending_count;
2358  uint32_t hypoths_count;
2362 
2368 {
2375  double cov[6];
2377 
2380 {
2384  double alpha;
2386 
2393 {
2397  double variance;
2403 
2404 
2410 #define PLAYER_POSITION3D_CODE 30
2411 
2414 #define PLAYER_POSITION3D_STRING "position3d"
2415 
2416 // /////////////////////////////////////////////////////////////////////////////
2432 #define PLAYER_POSITION3D_DATA_STATE 1
2433 
2435 #define PLAYER_POSITION3D_DATA_GEOMETRY 2
2436 
2438 #define PLAYER_POSITION3D_CMD_SET_VEL 1
2439 
2441 #define PLAYER_POSITION3D_CMD_SET_POS 2
2442 
2444 #define PLAYER_POSITION3D_REQ_GET_GEOM 1
2445 
2447 #define PLAYER_POSITION3D_REQ_MOTOR_POWER 2
2448 
2450 #define PLAYER_POSITION3D_REQ_VELOCITY_MODE 3
2451 
2453 #define PLAYER_POSITION3D_REQ_POSITION_MODE 4
2454 
2456 #define PLAYER_POSITION3D_REQ_RESET_ODOM 5
2457 
2459 #define PLAYER_POSITION3D_REQ_SET_ODOM 6
2460 
2462 #define PLAYER_POSITION3D_REQ_SPEED_PID 7
2463 
2465 #define PLAYER_POSITION3D_REQ_POSITION_PID 8
2466 
2468 #define PLAYER_POSITION3D_REQ_SPEED_PROF 9
2469 
2470 
2471 
2477 {
2483  uint8_t stall;
2485 
2491 {
2497  uint8_t state;
2499 
2505 {
2509  uint8_t state;
2511 
2516 {
2522 
2534 {
2536  uint8_t state;
2538 
2545 {
2547  uint32_t value;
2549 
2558 {
2560  uint32_t value;
2562 
2568 {
2572 
2583 {
2585  float kp;
2587  float ki;
2589  float kd;
2591 
2597 {
2599  float kp;
2601  float ki;
2603  float kd;
2605 
2611 {
2613  float speed;
2615  float acc;
2617 
2618 
2619 
2625 #define PLAYER_SIMULATION_CODE 31
2626 
2629 #define PLAYER_SIMULATION_STRING "simulation"
2630 
2631 // /////////////////////////////////////////////////////////////////////////////
2655 #define PLAYER_SIMULATION_REQ_GET_POSE2D 1
2656 
2658 #define PLAYER_SIMULATION_REQ_SET_POSE2D 2
2659 
2661 #define PLAYER_SIMULATION_REQ_GET_POSE3D 3
2662 
2664 #define PLAYER_SIMULATION_REQ_SET_POSE3D 4
2665 
2667 #define PLAYER_SIMULATION_REQ_GET_PROPERTY 5
2668 
2670 #define PLAYER_SIMULATION_REQ_SET_PROPERTY 6
2671 
2673 #define PLAYER_SIMULATION_CMD_PAUSE 1
2674 
2676 #define PLAYER_SIMULATION_CMD_RESET 2
2677 
2679 #define PLAYER_SIMULATION_CMD_SAVE 3
2680 
2681 
2682 
2683 
2689 {
2691  uint8_t data;
2693 
2699 {
2701  uint8_t cmd;
2703 
2711 {
2713  uint32_t name_count;
2715  char *name;
2719 
2727 {
2729  uint32_t name_count;
2731  char *name;
2735  double simtime;
2737 
2759 {
2761  uint32_t name_count;
2763  char *name;
2765  uint32_t prop_count;
2767  char *prop;
2769  uint32_t index;
2771  uint32_t value_count;
2773  char *value;
2775 
2776 
2777 
2783 #define PLAYER_BLINKENLIGHT_CODE 33
2784 
2787 #define PLAYER_BLINKENLIGHT_STRING "blinkenlight"
2788 
2789 // /////////////////////////////////////////////////////////////////////////////
2808 #define PLAYER_BLINKENLIGHT_DATA_STATE 1
2809 
2810 
2811 #define PLAYER_BLINKENLIGHT_CMD_STATE 1
2812 
2813 
2814 #define PLAYER_BLINKENLIGHT_CMD_POWER 2
2815 
2816 
2817 #define PLAYER_BLINKENLIGHT_CMD_COLOR 3
2818 
2819 
2820 #define PLAYER_BLINKENLIGHT_CMD_FLASH 4
2821 
2822 
2827 {
2829  uint8_t enable;
2831  float period;
2833  float dutycycle;
2837 
2842 {
2844  uint16_t id;
2846  uint8_t enable;
2848  float period;
2850  float dutycycle;
2854 
2859 {
2861  uint16_t id;
2863  uint8_t enable;
2865 
2870 {
2872  uint16_t id;
2876 
2881 {
2883  uint16_t id;
2885  float period;
2887  float dutycycle;
2889 
2890 
2891 
2897 #define PLAYER_CAMERA_CODE 40
2898 
2901 #define PLAYER_CAMERA_STRING "camera"
2902 
2903 // /////////////////////////////////////////////////////////////////////////////
2922 #define PLAYER_CAMERA_DATA_STATE 1
2923 
2925 #define PLAYER_CAMERA_REQ_GET_SOURCE 1
2926 
2928 #define PLAYER_CAMERA_REQ_SET_SOURCE 2
2929 
2931 #define PLAYER_CAMERA_REQ_GET_IMAGE 3
2932 
2933 
2934 
2936 #define PLAYER_CAMERA_FORMAT_MONO8 1
2937 
2938 #define PLAYER_CAMERA_FORMAT_MONO16 2
2939 
2940 #define PLAYER_CAMERA_FORMAT_RGB565 4
2941 
2942 #define PLAYER_CAMERA_FORMAT_RGB888 5
2943 
2945 #define PLAYER_CAMERA_COMPRESS_RAW 0
2946 
2947 #define PLAYER_CAMERA_COMPRESS_JPEG 1
2948 
2950 typedef struct player_camera_data
2951 {
2953  uint32_t width;
2955  uint32_t height;
2957  uint32_t bpp;
2959  uint32_t format;
2963  uint32_t fdiv;
2966  uint32_t compression;
2968  uint32_t image_count;
2972  uint8_t *image;
2974 
2979 typedef struct player_camera_source
2980 {
2982  uint32_t norm_count;
2983  char * norm;
2984  int32_t source;
2986 
2987 
2993 #define PLAYER_MAP_CODE 42
2994 
2997 #define PLAYER_MAP_STRING "map"
2998 
2999 // /////////////////////////////////////////////////////////////////////////////
3018 #define PLAYER_MAP_DATA_INFO 1
3019 
3021 #define PLAYER_MAP_REQ_GET_INFO 1
3022 
3024 #define PLAYER_MAP_REQ_GET_DATA 2
3025 
3027 #define PLAYER_MAP_REQ_GET_VECTOR 3
3028 
3029 
3030 
3031 
3033 #define PLAYER_MAP_DATA_INFO 1
3039 typedef struct player_map_info
3040 {
3042  float scale;
3044  uint32_t width;
3046  uint32_t height;
3051 
3060 typedef struct player_map_data
3061 {
3063  uint32_t col;
3065  uint32_t row;
3067  uint32_t width;
3069  uint32_t height;
3071  uint32_t data_count;
3073  int8_t data_range;
3075  int8_t *data;
3077 
3083 {
3085  float minx;
3087  float maxx;
3089  float miny;
3091  float maxy;
3093  uint32_t segments_count;
3097 
3098 
3099 
3105 #define PLAYER_PLANNER_CODE 44
3106 
3109 #define PLAYER_PLANNER_STRING "planner"
3110 
3111 // /////////////////////////////////////////////////////////////////////////////
3126 #define PLAYER_PLANNER_DATA_STATE 1
3127 
3129 #define PLAYER_PLANNER_CMD_GOAL 1
3130 
3132 #define PLAYER_PLANNER_CMD_START 2
3133 
3135 #define PLAYER_PLANNER_REQ_GET_WAYPOINTS 1
3136 
3138 #define PLAYER_PLANNER_REQ_ENABLE 2
3139 
3140 
3141 
3142 
3147 typedef struct player_planner_data
3148 {
3150  uint8_t valid;
3152  uint8_t done;
3162  int32_t waypoint_idx;
3166 
3170 typedef struct player_planner_cmd
3171 {
3175 
3182 {
3190 
3197 {
3199  uint8_t state;
3201 
3202 
3203 
3209 #define PLAYER_LOG_CODE 45
3210 
3213 #define PLAYER_LOG_STRING "log"
3214 
3215 // /////////////////////////////////////////////////////////////////////////////
3233 #define PLAYER_LOG_REQ_SET_WRITE_STATE 1
3234 
3236 #define PLAYER_LOG_REQ_SET_READ_STATE 2
3237 
3239 #define PLAYER_LOG_REQ_GET_STATE 3
3240 
3242 #define PLAYER_LOG_REQ_SET_READ_REWIND 4
3243 
3245 #define PLAYER_LOG_REQ_SET_FILENAME 5
3246 
3247 
3248 
3250 #define PLAYER_LOG_TYPE_READ 1
3251 
3252 #define PLAYER_LOG_TYPE_WRITE 2
3253 
3254 
3260 {
3262  uint8_t state;
3264 
3270 {
3272  uint8_t state;
3274 
3286 typedef struct player_log_get_state
3287 {
3290  uint8_t type;
3292  uint8_t state;
3294 
3300 {
3302  uint32_t filename_count;
3304  char filename[256];
3306 
3307 
3308 
3314 #define PLAYER_JOYSTICK_CODE 49
3315 
3318 #define PLAYER_JOYSTICK_STRING "joystick"
3319 
3320 // /////////////////////////////////////////////////////////////////////////////
3337 #define PLAYER_JOYSTICK_DATA_STATE 1
3338 
3339 
3340 
3341 
3346  typedef struct player_joystick_data
3347  {
3349  int32_t pos[8];
3351  int32_t scale[8];
3353  uint32_t buttons;
3355  uint32_t axes_count;
3357 
3358 
3359 
3360 
3366 #define PLAYER_SPEECH_RECOGNITION_CODE 50
3367 
3370 #define PLAYER_SPEECH_RECOGNITION_STRING "speech_recognition"
3371 
3372 // /////////////////////////////////////////////////////////////////////////////
3388 #define PLAYER_SPEECH_RECOGNITION_DATA_STRING 1
3389 
3390 
3391 
3396 {
3398  uint32_t text_count;
3400  char *text;
3402 
3403 
3404 
3410 #define PLAYER_OPAQUE_CODE 51
3411 
3414 #define PLAYER_OPAQUE_STRING "opaque"
3415 
3416 // /////////////////////////////////////////////////////////////////////////////
3434 #define PLAYER_OPAQUE_DATA_STATE 1
3435 
3437 #define PLAYER_OPAQUE_CMD_DATA 1
3438 
3440 #define PLAYER_OPAQUE_REQ_DATA 1
3441 
3442 
3443 
3444 /* for backwards compatibility */
3445 #define PLAYER_OPAQUE_REQ PLAYER_OPAQUE_REQ_DATA
3446 #define PLAYER_OPAQUE_CMD PLAYER_OPAQUE_CMD_DATA
3447 
3449 typedef struct player_opaque_data
3450 {
3452  uint32_t data_count;
3454  uint8_t *data;
3456 
3457 
3458 
3464 #define PLAYER_POSITION1D_CODE 52
3465 
3468 #define PLAYER_POSITION1D_STRING "position1d"
3469 
3470 // /////////////////////////////////////////////////////////////////////////////
3485 #define PLAYER_POSITION1D_REQ_GET_GEOM 1
3486 
3488 #define PLAYER_POSITION1D_REQ_MOTOR_POWER 2
3489 
3491 #define PLAYER_POSITION1D_REQ_VELOCITY_MODE 3
3492 
3494 #define PLAYER_POSITION1D_REQ_POSITION_MODE 4
3495 
3497 #define PLAYER_POSITION1D_REQ_SET_ODOM 5
3498 
3500 #define PLAYER_POSITION1D_REQ_RESET_ODOM 6
3501 
3503 #define PLAYER_POSITION1D_REQ_SPEED_PID 7
3504 
3506 #define PLAYER_POSITION1D_REQ_POSITION_PID 8
3507 
3509 #define PLAYER_POSITION1D_REQ_SPEED_PROF 9
3510 
3512 #define PLAYER_POSITION1D_DATA_STATE 1
3513 
3515 #define PLAYER_POSITION1D_DATA_GEOM 2
3516 
3518 #define PLAYER_POSITION1D_CMD_VEL 1
3519 
3521 #define PLAYER_POSITION1D_CMD_POS 2
3522 
3523 
3524 
3526 #define PLAYER_POSITION1D_STATUS_LIMIT_MIN 0
3527 
3528 #define PLAYER_POSITION1D_STATUS_LIMIT_CEN 1
3529 
3530 #define PLAYER_POSITION1D_STATUS_LIMIT_MAX 2
3531 
3532 #define PLAYER_POSITION1D_STATUS_OC 3
3533 
3534 #define PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE 4
3535 
3536 #define PLAYER_POSITION1D_STATUS_ENABLED 5
3537 
3543 {
3545  float pos;
3547  float vel;
3549  uint8_t stall;
3561  uint8_t status;
3562 
3564 
3571 {
3573  float vel;
3575  uint8_t state;
3577 
3584 {
3586  float pos;
3588  float vel;
3590  uint8_t state;
3592 
3598 {
3604 
3617 {
3619  uint8_t state;
3621 
3631 {
3633  uint32_t value;
3635 
3641 {
3643  uint32_t value;
3645 
3652 {
3654  uint32_t state;
3656 
3663 {
3665  float pos;
3667 
3674 {
3676  float kp;
3678  float ki;
3680  float kd;
3682 
3689 {
3691  float kp;
3693  float ki;
3695  float kd;
3697 
3704 {
3706  float speed;
3708  float acc;
3710 
3711 
3717 #define PLAYER_ACTARRAY_CODE 53
3718 
3721 #define PLAYER_ACTARRAY_STRING "actarray"
3722 
3723 // /////////////////////////////////////////////////////////////////////////////
3738 #define PLAYER_ACTARRAY_REQ_POWER 1
3739 
3740 
3741 #define PLAYER_ACTARRAY_REQ_BRAKES 2
3742 
3743 
3744 #define PLAYER_ACTARRAY_REQ_GET_GEOM 3
3745 
3746 
3747 #define PLAYER_ACTARRAY_REQ_SPEED 4
3748 
3749 
3750 #define PLAYER_ACTARRAY_REQ_ACCEL 5
3751 
3752 
3753 #define PLAYER_ACTARRAY_CMD_POS 1
3754 
3755 
3756 #define PLAYER_ACTARRAY_CMD_MULTI_POS 2
3757 
3758 
3759 #define PLAYER_ACTARRAY_CMD_SPEED 3
3760 
3761 
3762 #define PLAYER_ACTARRAY_CMD_MULTI_SPEED 4
3763 
3764 
3765 #define PLAYER_ACTARRAY_CMD_HOME 5
3766 
3767 
3768 #define PLAYER_ACTARRAY_CMD_CURRENT 6
3769 
3770 
3771 #define PLAYER_ACTARRAY_CMD_MULTI_CURRENT 7
3772 
3773 
3774 #define PLAYER_ACTARRAY_DATA_STATE 1
3775 
3776 
3778 #define PLAYER_ACTARRAY_ACTSTATE_IDLE 1
3779 
3780 #define PLAYER_ACTARRAY_ACTSTATE_MOVING 2
3781 
3782 #define PLAYER_ACTARRAY_ACTSTATE_BRAKED 4
3783 
3784 #define PLAYER_ACTARRAY_ACTSTATE_STALLED 8
3785 
3787 #define PLAYER_ACTARRAY_TYPE_LINEAR 1
3788 
3789 #define PLAYER_ACTARRAY_TYPE_ROTARY 2
3790 
3791 
3794 {
3796  float position;
3798  float speed;
3802  float current;
3804  uint8_t state;
3806 
3810 typedef struct player_actarray_data
3811 {
3817  uint8_t motor_state;
3819 
3822 {
3824  uint8_t type;
3827  float length;
3837  float min;
3839  float centre;
3841  float max;
3843  float home;
3847  uint8_t hasbrakes;
3849 
3854 typedef struct player_actarray_geom
3855 {
3867 
3868 
3873 {
3875  int32_t joint;
3877  float position;
3879 
3884 {
3888  float *positions;
3890 
3895 {
3897  int32_t joint;
3899  float speed;
3901 
3906 {
3908  uint32_t speeds_count;
3910  float *speeds;
3912 
3917 {
3919  int32_t joint;
3921 
3926 {
3928  int32_t joint;
3930  float current;
3932 
3937 {
3939  uint32_t currents_count;
3941  float *currents;
3943 
3944 
3945 
3946 
3954 {
3956  uint8_t value;
3958 
3964 {
3966  uint8_t value;
3968 
3974 {
3976  int32_t joint;
3978  float speed;
3980 
3981 
3987 {
3989  int32_t joint;
3991  float accel;
3993 
3994 
3995 
3996 
4002 #define PLAYER_LIMB_CODE 54
4003 
4006 #define PLAYER_LIMB_STRING "limb"
4007 
4008 // /////////////////////////////////////////////////////////////////////////////
4023 #define PLAYER_LIMB_STATE_IDLE 1
4024 
4025 #define PLAYER_LIMB_STATE_BRAKED 2
4026 
4027 #define PLAYER_LIMB_STATE_MOVING 3
4028 
4029 #define PLAYER_LIMB_STATE_OOR 4
4030 
4031 #define PLAYER_LIMB_STATE_COLL 5
4032 
4034 #define PLAYER_LIMB_DATA_STATE 1
4035 
4039 #define PLAYER_LIMB_CMD_HOME 1
4040 
4044 #define PLAYER_LIMB_CMD_STOP 2
4045 
4047 #define PLAYER_LIMB_CMD_SETPOSE 3
4048 
4050 #define PLAYER_LIMB_CMD_SETPOSITION 4
4051 
4053 #define PLAYER_LIMB_CMD_VECMOVE 5
4054 
4056 #define PLAYER_LIMB_REQ_POWER 1
4057 
4059 #define PLAYER_LIMB_REQ_BRAKES 2
4060 
4062 #define PLAYER_LIMB_REQ_GEOM 3
4063 
4065 #define PLAYER_LIMB_REQ_SPEED 4
4066 
4067 
4068 
4072 typedef struct player_limb_data
4073 {
4083  uint8_t state;
4085 
4086 
4092 {
4100 
4106 {
4110 
4116 {
4120  float length;
4122 
4129 {
4131  uint8_t value;
4133 
4139 {
4141  uint8_t value;
4143 
4147 typedef struct player_limb_geom_req
4148 {
4152 
4158 {
4160  float speed;
4162 
4163 
4164 
4170 #define PLAYER_GRAPHICS2D_CODE 55
4171 
4174 #define PLAYER_GRAPHICS2D_STRING "graphics2d"
4175 
4176 // /////////////////////////////////////////////////////////////////////////////
4194 #define PLAYER_GRAPHICS2D_CMD_CLEAR 1
4195 
4197 #define PLAYER_GRAPHICS2D_CMD_POINTS 2
4198 
4200 #define PLAYER_GRAPHICS2D_CMD_POLYLINE 3
4201 
4203 #define PLAYER_GRAPHICS2D_CMD_POLYGON 4
4204 
4206 #define PLAYER_GRAPHICS2D_CMD_MULTILINE 5
4207 
4208 
4209 
4218 {
4220  uint32_t points_count;
4226 
4231 {
4233  uint32_t points_count;
4239 
4244 {
4246  uint32_t points_count;
4254  uint8_t filled;
4256 
4261 {
4263  uint32_t points_count;
4269 
4270 
4276 #define PLAYER_RFID_CODE 56
4277 
4280 #define PLAYER_RFID_STRING "rfid"
4281 
4282 // /////////////////////////////////////////////////////////////////////////////
4298 #define PLAYER_RFID_DATA_TAGS 1
4299 
4301 #define PLAYER_RFID_REQ_POWER 1
4302 
4304 #define PLAYER_RFID_REQ_READTAG 2
4305 
4307 #define PLAYER_RFID_REQ_WRITETAG 3
4308 
4310 #define PLAYER_RFID_REQ_LOCKTAG 4
4311 
4312 
4313 
4314 
4316 typedef struct player_rfid_tag
4317 {
4319  uint32_t type;
4321  uint32_t guid_count;
4323  char *guid;
4325 
4329 typedef struct player_rfid_data
4330 {
4332  uint32_t tags_count;
4336 
4337 
4343 #define PLAYER_WSN_CODE 57
4344 
4347 #define PLAYER_WSN_STRING "wsn"
4348 
4349 // /////////////////////////////////////////////////////////////////////////////
4369 #define PLAYER_WSN_DATA_STATE 1
4370 
4372 #define PLAYER_WSN_CMD_DEVSTATE 1
4373 
4375 #define PLAYER_WSN_REQ_POWER 1
4376 
4378 #define PLAYER_WSN_REQ_DATATYPE 2
4379 
4381 #define PLAYER_WSN_REQ_DATAFREQ 3
4382 
4383 
4384 
4386 typedef struct player_wsn_node_data
4387 {
4389  float light;
4391  float mic;
4393  float accel_x;
4395  float accel_y;
4397  float accel_z;
4399  float magn_x;
4401  float magn_y;
4403  float magn_z;
4407  float battery;
4409 
4413 typedef struct player_wsn_data
4414 {
4416  uint32_t node_type;
4418  uint32_t node_id;
4420  uint32_t node_parent_id;
4424 
4428 typedef struct player_wsn_cmd
4429 {
4431  int32_t node_id;
4433  int32_t group_id;
4435  uint32_t device;
4437  uint8_t enable;
4439 
4445 {
4447  int32_t node_id;
4449  int32_t group_id;
4451  uint8_t value;
4453 
4460 {
4462  uint8_t value;
4464 
4471 {
4473  int32_t node_id;
4475  int32_t group_id;
4477  double frequency;
4479 
4480 
4486 #define PLAYER_GRAPHICS3D_CODE 58
4487 
4490 #define PLAYER_GRAPHICS3D_STRING "graphics3d"
4491 
4492 // /////////////////////////////////////////////////////////////////////////////
4514 #define PLAYER_GRAPHICS3D_CMD_CLEAR 1
4515 
4517 #define PLAYER_GRAPHICS3D_CMD_DRAW 2
4518 
4520 #define PLAYER_GRAPHICS3D_CMD_TRANSLATE 3
4521 
4523 #define PLAYER_GRAPHICS3D_CMD_ROTATE 4
4524 
4526 #define PLAYER_GRAPHICS3D_CMD_PUSH 5
4527 
4529 #define PLAYER_GRAPHICS3D_CMD_POP 6
4530 
4531 
4532 
4535 {
4536  PLAYER_DRAW_POINTS,
4537  PLAYER_DRAW_LINES,
4538  PLAYER_DRAW_LINE_STRIP,
4539  PLAYER_DRAW_LINE_LOOP,
4540  PLAYER_DRAW_TRIANGLES,
4541  PLAYER_DRAW_TRIANGLE_STRIP,
4542  PLAYER_DRAW_TRIANGLE_FAN,
4543  PLAYER_DRAW_QUADS,
4544  PLAYER_DRAW_QUAD_STRIP,
4545  PLAYER_DRAW_POLYGON
4547 
4548 
4557 {
4559  uint32_t draw_mode;
4561  uint32_t points_count;
4566 
4568 
4573 {
4574  double x;
4575  double y;
4576  double z;
4578 
4583 {
4584  double a;
4585  double x;
4586  double y;
4587  double z;
4589 
4590 
4591 
4597 #define PLAYER_HEALTH_CODE 59
4598 
4601 #define PLAYER_HEALTH_STRING "health"
4602 
4603 // /////////////////////////////////////////////////////////////////////////////
4619 #define PLAYER_HEALTH_DATA_STATE 1
4620 
4621 
4623 typedef struct player_health_cpu
4624 {
4626  float idle;
4628  float system;
4630  float user;
4632 
4634 typedef struct player_health_memory
4635 {
4637  int64_t total;
4639  int64_t used;
4641  int64_t free;
4645 typedef struct player_health_data
4646 {
4653 
4655 
4656 
4662 #define PLAYER_IMU_CODE 60
4663 
4666 #define PLAYER_IMU_STRING "imu"
4667 
4668 // /////////////////////////////////////////////////////////////////////////////
4684 #define PLAYER_IMU_DATA_STATE 1
4685 
4687 #define PLAYER_IMU_DATA_CALIB 2
4688 
4690 #define PLAYER_IMU_DATA_QUAT 3
4691 
4693 #define PLAYER_IMU_DATA_EULER 4
4694 
4696 #define PLAYER_IMU_DATA_FULLSTATE 5
4697 
4699 #define PLAYER_IMU_REQ_SET_DATATYPE 1
4700 
4702 #define PLAYER_IMU_REQ_RESET_ORIENTATION 2
4703 
4705 #define PLAYER_IMU_REQ_RESET_EULER 3
4706 
4707 
4708 
4709 
4715 {
4719 
4725 {
4727  float accel_x;
4729  float accel_y;
4731  float accel_z;
4733  float gyro_x;
4735  float gyro_y;
4737  float gyro_z;
4739  float magn_x;
4741  float magn_y;
4743  float magn_z;
4745 
4750 typedef struct player_imu_data_quat
4751 {
4754 
4756  float q0;
4757  float q1;
4758  float q2;
4759  float q3;
4761 
4767 {
4770 
4774 
4775 
4781 {
4789 
4790 
4791 
4792 
4800 {
4804  uint8_t value;
4806 
4812 {
4814  uint32_t value;
4816 
4822 {
4823  player_pose3d_t orientation;
4825 
4826 
4832 #define PLAYER_POINTCLOUD3D_CODE 61
4833 
4836 #define PLAYER_POINTCLOUD3D_STRING "pointcloud3d"
4837 
4838 // /////////////////////////////////////////////////////////////////////////////
4854 #define PLAYER_POINTCLOUD3D_DATA_STATE 1
4855 
4856 
4857 
4862 {
4863  player_point_3d_t point;
4864  player_color_t color;
4875 
4880 {
4881  uint32_t points_count;
4884 
4885 
4886 
4892 #define PLAYER_RANGER_CODE 62
4893 
4896 #define PLAYER_RANGER_STRING "ranger"
4897 
4898 // /////////////////////////////////////////////////////////////////////////////
4949 #define PLAYER_RANGER_DATA_RANGE 1
4950 
4952 #define PLAYER_RANGER_DATA_RANGESTAMPED 2
4953 
4955 #define PLAYER_RANGER_DATA_INTNS 3
4956 
4958 #define PLAYER_RANGER_DATA_INTNSSTAMPED 4
4959 
4961 #define PLAYER_RANGER_DATA_GEOM 5
4962 
4964 #define PLAYER_RANGER_REQ_GET_GEOM 1
4965 
4967 #define PLAYER_RANGER_REQ_POWER 2
4968 
4970 #define PLAYER_RANGER_REQ_INTNS 3
4971 
4973 #define PLAYER_RANGER_REQ_SET_CONFIG 4
4974 
4976 #define PLAYER_RANGER_REQ_GET_CONFIG 5
4977 
4978 
4979 
4983 typedef struct player_ranger_config
4984 {
4986  double min_angle;
4988  double max_angle;
4990  double angular_res;
4993  double min_range;
4995  double max_range;
4997  double range_res;
4999  double frequency;
5001 
5005 typedef struct player_ranger_geom
5006 {
5020 
5025 {
5027  uint32_t ranges_count;
5029  double *ranges;
5031 
5037 {
5041  uint8_t have_geom;
5045  uint8_t have_config;
5049 
5054 {
5058  double *intensities;
5060 
5066 {
5070  uint8_t have_geom;
5074  uint8_t have_config;
5078 
5083 {
5085  uint8_t state;
5087 
5095 {
5097  uint8_t state;
5099 
5100 
5101 
5107 #define PLAYER_VECTORMAP_CODE 63
5108 
5111 #define PLAYER_VECTORMAP_STRING "vectormap"
5112 
5113 // /////////////////////////////////////////////////////////////////////////////
5126 
5137 #define PLAYER_VECTORMAP_REQ_GET_MAP_INFO 1
5138 
5140 #define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA 3
5141 
5143 #define PLAYER_VECTORMAP_REQ_WRITE_LAYER 4
5144 
5145 
5146 
5149 {
5151  uint32_t name_count;
5153  char* name;
5155  uint32_t wkb_count;
5157  uint8_t* wkb;
5158 
5160  uint32_t attrib_count;
5162  char* attrib;
5164 
5166 {
5168  uint32_t name_count;
5170  char* name;
5174 
5177 {
5179  uint32_t name_count;
5181  char* name;
5183  uint32_t features_count;
5187 
5190 {
5192  uint32_t srid;
5194  uint32_t layers_count;
5200 
5201 
5202 
5208 #define PLAYER_BLACKBOARD_CODE 64
5209 
5212 #define PLAYER_BLACKBOARD_STRING "blackboard"
5213 
5214 // /////////////////////////////////////////////////////////////////////////////
5228 #define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY 1
5229 
5231 #define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY 2
5232 
5234 #define PLAYER_BLACKBOARD_REQ_SET_ENTRY 3
5235 
5237 #define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP 4
5238 
5240 #define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP 5
5241 
5243 #define PLAYER_BLACKBOARD_REQ_GET_ENTRY 6
5244 
5246 #define PLAYER_BLACKBOARD_DATA_UPDATE 1
5247 
5248 
5249 
5250 
5251 
5257 #define PLAYER_STEREO_CODE 65
5258 
5261 #define PLAYER_STEREO_STRING "stereo"
5262 
5263 // /////////////////////////////////////////////////////////////////////////////
5281 #define PLAYER_STEREO_DATA_STATE 1
5282 
5283 
5285 {
5287  float px;
5289  float py;
5291  float pz;
5293  uint8_t red;
5295  uint8_t green;
5297  uint8_t blue;
5299 
5301 typedef struct player_stereo_data
5302 {
5303  /* Left channel image */
5304  player_camera_data_t left_channel;
5305  /* Right channel image */
5306  player_camera_data_t right_channel;
5307 
5308  /* Disparity image */
5309  player_camera_data_t disparity;
5310 
5311  /* 3-D stereo point cloud */
5312  uint32_t points_count;
5314 
5315 
5316  /* Special mode flags: define what images are being sent */
5317  uint32_t mode;
5319 
5320 
5326 #define PLAYER_COOPOBJECT_CODE 66
5327 
5330 #define PLAYER_COOPOBJECT_STRING "coopobject"
5331 
5332 // /////////////////////////////////////////////////////////////////////////////
5349 #define PLAYER_COOPOBJECT_DATA_HEALTH 1
5350 
5351 
5352 #define PLAYER_COOPOBJECT_DATA_RSSI 2
5353 
5354 
5355 #define PLAYER_COOPOBJECT_DATA_SENSOR 3
5356 
5357 
5358 #define PLAYER_COOPOBJECT_DATA_ALARM 4
5359 
5360 
5361 #define PLAYER_COOPOBJECT_DATA_USERDEFINED 5
5362 
5363 
5364 #define PLAYER_COOPOBJECT_DATA_REQUEST 6
5365 
5366 
5367 #define PLAYER_COOPOBJECT_DATA_COMMAND 7
5368 
5369 
5370 #define PLAYER_COOPOBJECT_DATA_POSITION 8
5371 
5373 #define PLAYER_COOPOBJECT_CMD_STANDARD 1
5374 
5375 
5376 #define PLAYER_COOPOBJECT_CMD_DATA 2
5377 
5378 
5379 #define PLAYER_COOPOBJECT_CMD_POSITION 3
5380 
5382 #define PLAYER_COOPOBJECT_REQ_STANDARD 1
5383 
5384 
5385 
5387 #define PLAYER_COOPOBJECT_ORIGIN_STATICBASE 0
5388 #define PLAYER_COOPOBJECT_ORIGIN_MOBILEBASE 1
5389 #define PLAYER_COOPOBJECT_ORIGIN_MOTE 2
5390 #define PLAYER_COOPOBJECT_ORIGIN_ROBOT 3
5391 
5393 #define PLAYER_COOPOBJECT_MSG_NONE -1
5394 #define PLAYER_COOPOBJECT_MSG_HEALTH 0
5395 #define PLAYER_COOPOBJECT_MSG_POSITION 1
5396 #define PLAYER_COOPOBJECT_MSG_RSSI 2
5397 #define PLAYER_COOPOBJECT_MSG_SENSOR 3
5398 #define PLAYER_COOPOBJECT_MSG_ALARM 4
5399 #define PLAYER_COOPOBJECT_MSG_REQUEST 5
5400 #define PLAYER_COOPOBJECT_MSG_COMMAND 6
5401 
5402 /* From 7 on, user defined messages */
5403 
5405 #define PLAYER_COOPOBJECT_TEMPERATURE 0
5406 #define PLAYER_COOPOBJECT_HUMIDITY 1
5407 #define PLAYER_COOPOBJECT_PRESSURE 2
5408 #define PLAYER_COOPOBJECT_LIGHT_1 3
5409 #define PLAYER_COOPOBJECT_LIGHT_2 4
5410 #define PLAYER_COOPOBJECT_ACCEL_X 5
5411 #define PLAYER_COOPOBJECT_ACCEL_Y 6
5412 #define PLAYER_COOPOBJECT_ACCEL_Z 7
5413 #define PLAYER_COOPOBJECT_MAGNETOMETER_X 8
5414 #define PLAYER_COOPOBJECT_MAGNETOMETER_Y 9
5415 #define PLAYER_COOPOBJECT_MAGNETOMETER_Z 10
5416 #define PLAYER_COOPOBJECT_COMPASS 11
5417 #define PLAYER_COOPOBJECT_CO 12
5418 #define PLAYER_COOPOBJECT_CO2 13
5419 #define PLAYER_COOPOBJECT_H2 14
5420 
5422 #define PLAYER_COOPOBJECT_SMOKE 15
5423 #define PLAYER_COOPOBJECT_OPTSWITCH 16
5424 
5425 /* From 4 on, user defined messages */
5426 
5429 {
5431  uint8_t origin;
5433  uint16_t id;
5435  uint16_t parent_id;
5436 
5437 
5439 
5442 {
5445  uint16_t sender_id;
5446  uint16_t rssi;
5447  uint16_t stamp;
5448  uint32_t nodeTimeHigh;
5449  uint32_t nodeTimeLow;
5450  float x;
5451  float y;
5452  float z;
5453 
5455 
5458 {
5459 
5461 
5462  float x;
5463  float y;
5464  float z;
5465 
5466  uint8_t status;
5467 
5468 
5469 
5471 
5472 /* Structure to store values from a single sensor or alarm or other devices/items. */
5474 {
5476  uint8_t type;
5478  int16_t value;
5480 
5481 
5486 {
5487 
5489 
5491  uint32_t data_count;
5494 
5496 
5497 
5502 {
5505  uint8_t type;
5507  uint32_t data_count;
5509  uint8_t *data;
5510 
5512 
5517 {
5518 
5520 
5522  uint8_t request;
5526  uint8_t *parameters;
5527 
5529 
5530 
5536 {
5538 
5540  uint8_t command;
5541 
5545  uint8_t *parameters;
5546 
5548 
5549 
5550 
5553 /* END OF AUTOGENERATED CODE */
Request/reply: Set odometry.
Definition: player_interfaces.h:3662
struct player_imu_data_state player_imu_data_state_t
Data: calibrated IMU data (PLAYER_IMU_DATA_STATE)
Structure describing the WSN node's data packet.
Definition: player_interfaces.h:4386
uint8_t motor_state
power state
Definition: player_interfaces.h:3817
Command: output values (PLAYER_DIO_CMD_VALUES)
Definition: player_interfaces.h:2006
uint8_t green
Green color channel.
Definition: player_interfaces.h:5295
uint32_t height
The size of the map [pixels].
Definition: player_interfaces.h:3046
Data: Stamped intensity scan (PLAYER_RANGER_DATA_INTNSSTAMPED)
Definition: player_interfaces.h:5065
position 2d velocity command
Definition: player_interfaces.h:617
double frequency
Requested frequency in Hz.
Definition: player_interfaces.h:4477
struct player_position3d_geom player_position3d_geom_t
Request/reply: Query geometry.
player_rfid_tag_t * tags
The list of RFID tags.
Definition: player_interfaces.h:4334
player_pose3d_t pos
(x, y, z, roll, pitch, yaw) position [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2570
struct player_audio_seq_item player_audio_seq_item_t
Player audio sequence item.
struct player_aio_cmd player_aio_cmd_t
Command: state (PLAYER_AIO_CMD_STATE)
struct player_wsn_power_config player_wsn_power_config_t
Request/reply: Put the node in sleep mode (0) or wake it up (1).
uint32_t id
A unique, increasing, ID for the scan.
Definition: player_interfaces.h:902
uint32_t state
0 for velocity mode, 1 for position mode
Definition: player_interfaces.h:3654
struct player_imu_reset_euler_config player_imu_reset_euler_config_t
Request/reply: Reset euler orientation.
Request/reply: Change position control.
Definition: player_interfaces.h:2544
player_pose2d_t waypoint
Current waypoint location (m,m,rad)
Definition: player_interfaces.h:3158
uint8_t data
A single byte of as-yet-unspecified data.
Definition: player_interfaces.h:2691
uint32_t * config
Buffer for command/reply.
Definition: player_interfaces.h:1292
uint8_t stall
Are the motors stalled?
Definition: player_interfaces.h:2483
struct player_health_cpu player_health_cpu_t
Structure describing the cpu.
uint32_t value
driver-specific
Definition: player_interfaces.h:4814
data
Definition: player_interfaces.h:3449
Request/reply: Put the node in sleep mode (0) or wake it up (1).
Definition: player_interfaces.h:4444
char * value
The value of the property.
Definition: player_interfaces.h:2773
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
struct player_pointcloud3d_stereo_element player_pointcloud3d_stereo_element_t
Data: state (PLAYER_STEREO_DATA_STATE)
uint32_t node_parent_id
The ID of the WSN node's parent (if existing).
Definition: player_interfaces.h:4420
struct player_fiducial_geom player_fiducial_geom_t
Request/reply: Get geometry.
struct player_ranger_data_rangestamped player_ranger_data_rangestamped_t
Data: Stamped range scan (PLAYER_RANGER_DATA_RANGESTAMPED)
uint32_t parameters_count
Size of the data of the message (in bytes)
Definition: player_interfaces.h:5543
struct player_audio_mixer_channel player_audio_mixer_channel_t
Player mixer channel.
struct player_limb_setpose_cmd player_limb_setpose_cmd_t
Command: Set end effector pose (PLAYER_LIMB_CMD_SETPOSE)
Request/reply: Sonar power.
Definition: player_interfaces.h:797
Command: Translate coordinate system (PLAYER_GRAPHICS3D_CMD_TRANSLATE) Translate the current coordina...
Definition: player_interfaces.h:4572
struct player_position1d_position_mode_req player_position1d_position_mode_req_t
Request/reply: Change control mode.
Request/reply: Get/set scan properties.
Definition: player_interfaces.h:961
uint32_t details_count
number of tones in list
Definition: player_interfaces.h:1572
struct player_limb_power_req player_limb_power_req_t
Request/reply: Power.
struct player_ranger_data_range player_ranger_data_range_t
Data: range scan (PLAYER_RANGER_DATA_RANGE)
uint32_t name_count
Length of name.
Definition: player_interfaces.h:2729
player_fiducial_item_t * fiducials
List of detected fiducials.
Definition: player_interfaces.h:1705
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:5027
player_pose3d_t upose
Uncertainty in the measured pose .
Definition: player_interfaces.h:1693
float tilt
Tilt [rad].
Definition: player_interfaces.h:1233
A rectangular bounding box, used to define the size of an object.
Definition: player.h:254
struct player_position3d_speed_prof_req player_position3d_speed_prof_req_t
Request/reply: Set speed profile parameters.
Request/reply: get/set 3D pose of a named simulation object.
Definition: player_interfaces.h:2726
Command: power (PLAYER_BLINKENLIGHT_CMD_POWER) This blinkenlight command turns the light on or off...
Definition: player_interfaces.h:2858
Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB)
Definition: player_interfaces.h:4724
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:633
struct player_position3d_cmd_vel player_position3d_cmd_vel_t
Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)
float panspeed
Current pan velocity [rad/s].
Definition: player_interfaces.h:1237
float temperature
The node's templerature measurement from a temperature sensor.
Definition: player_interfaces.h:4405
uint32_t channel
For devices that can track multiple colors, indicate which color channel we are defining with this st...
Definition: player_interfaces.h:1123
uint32_t index
channel index
Definition: player_interfaces.h:1520
float magn_z
The IMU's calibrated magnetic value on Z-axis.
Definition: player_interfaces.h:4743
uint8_t * intensity
Intensity readings.
Definition: player_interfaces.h:900
#define PLAYER_MAX_DRIVER_STRING_LEN
Maximum length for a driver name.
Definition: player.h:72
struct player_ir_power_req player_ir_power_req_t
Request/reply: set power.
float max_range
Maximum range [m].
Definition: player_interfaces.h:970
struct player_audio_seq player_audio_seq_t
Player audio sequence.
struct player_log_set_write_state player_log_set_write_state_t
Request/reply: Set write state.
uint16_t id
identify the light we are addressing
Definition: player_interfaces.h:2872
int32_t index
index to store it at or retrieve from (-1 for next available where valid)
Definition: player_interfaces.h:1594
uint32_t segments_count
The number of line segments.
Definition: player_interfaces.h:3093
float ki
PID parameters.
Definition: player_interfaces.h:2587
struct player_limb_vecmove_cmd player_limb_vecmove_cmd_t
Command: Vector move the end effector (PLAYER_LIMB_CMD_VECMOVE)
A rectangular bounding box, used to define the origin and bounds of an object.
Definition: player.h:307
struct player_actarray_position_cmd player_actarray_position_cmd_t
Command: Joint position control (PLAYER_ACTARRAY_CMD_POS)
struct player_vectormap_layer_info player_vectormap_layer_info_t
Request/reply subtype: get vectormap meta-data.
uint8_t state
TRUE to turn device on, FALSE to turn device off.
Definition: player_interfaces.h:5085
player_ranger_geom_t geom
The geometry of the device at the time the scan was acquired.
Definition: player_interfaces.h:5043
struct player_position1d_speed_prof_req player_position1d_speed_prof_req_t
Request/reply: Set linear speed profile parameters.
player_pose2d_t vel
velocity at which to move to the position [m/s] or [rad/s]
Definition: player_interfaces.h:631
struct player_simulation_pose2d_req player_simulation_pose2d_req_t
Request/reply: get/set 2D pose of a named simulation object.
struct player_fiducial_id player_fiducial_id_t
Request/reply: Get/set fiducial ID.
Command: state (PLAYER_PTZ_CMD_STATE)
Definition: player_interfaces.h:1248
player_health_memory_t mem
The memory stats.
Definition: player_interfaces.h:4650
Player audio sequence item.
Definition: player_interfaces.h:1481
float dutycycle
flash duty cycle (ratio of time-on to time-off in one cycle (0.0 to 1.0).
Definition: player_interfaces.h:2850
uint32_t maxnoise
Maximum value for noise.
Definition: player_interfaces.h:2266
uint32_t gmin
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1129
Request/reply: Set filter settings.
Definition: player_interfaces.h:1016
float tilt
Desired tilt angle [rad].
Definition: player_interfaces.h:1253
player_pose3d_t pose
Device centre pose in robot CS [m, m, m, rad, rad, rad].
Definition: player_interfaces.h:5008
uint8_t enable
FALSE: disabled, TRUE: enabled.
Definition: player_interfaces.h:2829
float acc
max acceleration [rad/s^2]
Definition: player_interfaces.h:2615
uint32_t poses_count
The number of valid poses.
Definition: player_interfaces.h:788
uint32_t bits
bitfield of samples
Definition: player_interfaces.h:1999
struct player_position2d_cmd_car player_position2d_cmd_car_t
position2d command setting velocity and steering angle
int32_t default_input
default input channel (-1 for none)
Definition: player_interfaces.h:1578
Player audio sample selection.
Definition: player_interfaces.h:1602
Request/reply: Speed.
Definition: player_interfaces.h:4157
A color descriptor.
Definition: player.h:320
uint8_t type
The type of sensor (see above)
Definition: player_interfaces.h:5476
player_pose3d_t pose
Laser pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:948
Request/reply: Set filename.
Definition: player_interfaces.h:3299
Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED)
Definition: player_interfaces.h:3894
Data: range scan (PLAYER_RANGER_DATA_RANGE)
Definition: player_interfaces.h:5024
double alpha
The weight coefficient for linear combination (alpha)
Definition: player_interfaces.h:2344
float kp
PID parameters.
Definition: player_interfaces.h:3691
uint8_t state
TRUE to turn data on, FALSE to turn data off.
Definition: player_interfaces.h:5097
struct player_position1d_position_pid_req player_position1d_position_pid_req_t
Request/reply: Set position PID parameters.
player_pose2d_t goal
Goal location (m,m,rad)
Definition: player_interfaces.h:3173
uint32_t name_count
Length of robot name.
Definition: player_interfaces.h:215
Actuator geometry.
Definition: player_interfaces.h:3821
Request/reply: Set write state.
Definition: player_interfaces.h:3259
struct player_position2d_velocity_mode_config player_position2d_velocity_mode_config_t
position2d velocity mode config
player_laser_data_t scan
The scan data.
Definition: player_interfaces.h:912
Request/reply: Enable/disable robot motion.
Definition: player_interfaces.h:3196
struct player_actarray_multi_current_cmd player_actarray_multi_current_cmd_t
Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT)
uint32_t pending_count
The number of pending (unprocessed observations)
Definition: player_interfaces.h:2354
float dutycycle
flash duty cycle (ratio of time-on to time-off in one cycle).
Definition: player_interfaces.h:2833
Command: set device state (PLAYER_WSN_CMD_DEVSTATE) This wsn command sets the state of the node's ind...
Definition: player_interfaces.h:4428
player_coopobject_sensor_t * data
The node sensors measurements.
Definition: player_interfaces.h:5493
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:964
struct player_log_set_read_state player_log_set_read_state_t
Request/reply: Set playback state.
struct player_planner_enable_req player_planner_enable_req_t
Request/reply: Enable/disable robot motion.
float * voltages
voltages [V]
Definition: player_interfaces.h:2120
float ki
PID parameters.
Definition: player_interfaces.h:698
struct player_laser_get_id_config player_laser_get_id_config_t
Request/reply: Get IDentification information.
Request/reply: Get IDentification information.
Definition: player_interfaces.h:993
player_pose3d_t pose
the local pose of a single bumper
Definition: player_interfaces.h:1934
struct player_pointcloud3d_data player_pointcloud3d_data_t
Data: Get cloud (PLAYER_POINTCLOUD3D_DATA_STATE) The basic 3dcloudpoint data packet.
Command: start or goal position (PLAYER_PLANNER_CMD_GOAL, PLAYER_PLANNER_CMD_START) ...
Definition: player_interfaces.h:3170
struct player_position3d_power_config player_position3d_power_config_t
Request/reply: Motor power.
struct player_actarray_speed_config player_actarray_speed_config_t
Request/reply: Speed.
Structure describing the cpu.
Definition: player_interfaces.h:4623
float magn_y
The IMU's calibrated magnetic value on Y-axis.
Definition: player_interfaces.h:4741
player_bbox3d_t size
Size of the device [m, m, m].
Definition: player_interfaces.h:5010
Structure describing the memory.
Definition: player_interfaces.h:4634
int8_t * data
Cell occupancy value.
Definition: player_interfaces.h:3075
uint8_t status
bitfield of extra data in the following order:
Definition: player_interfaces.h:3561
int32_t node_id
The ID of the WSN node.
Definition: player_interfaces.h:4473
struct player_ir_pose player_ir_pose_t
Request/reply: get pose.
uint32_t links_count
length of said list
Definition: player_interfaces.h:2250
struct player_audio_mixer_channel_detail player_audio_mixer_channel_detail_t
Player mixer channel detail.
float mic
The node's accoustic measurement from a microphone.
Definition: player_interfaces.h:4391
player_pose2d_t mean
The best (?) pose (mm, mm, arc-seconds).
Definition: player_interfaces.h:2395
player_point_2d_t * points
Array of points to be joined by lines.
Definition: player_interfaces.h:4265
uint32_t fiducials_count
The number of detected fiducials.
Definition: player_interfaces.h:1703
player_ranger_config_t config
The sensor configuration at the time the scan was acquired.
Definition: player_interfaces.h:5076
char * prop
The identifier of the property we want to get/set.
Definition: player_interfaces.h:2767
player_localize_particle_t * particles
The particles.
Definition: player_interfaces.h:2401
float speed
Speed setting in m/s or rad/s.
Definition: player_interfaces.h:3978
player_pose3d_t vel
velocity at which to move to the position [m/s] or [rad/s]
Definition: player_interfaces.h:2495
struct player_add_replace_rule_req player_add_replace_rule_req_t
Configuration request: Add client queue replace rule.
player_extent2d_t extent
Boundary area.
Definition: player_interfaces.h:5198
struct player_position2d_data player_position2d_data_t
position2d data
struct player_actarray_actuatorgeom player_actarray_actuatorgeom_t
Actuator geometry.
float * currents
The current for the motors of the whole array.
Definition: player_interfaces.h:3941
set odometry
Definition: player_interfaces.h:686
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:2536
float range
Range to the blob center [meters].
Definition: player_interfaces.h:1090
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:886
int32_t index
index of the sample
Definition: player_interfaces.h:1605
uint32_t row
The tile origin [pixels].
Definition: player_interfaces.h:3065
struct player_position3d_velocity_mode_config player_position3d_velocity_mode_config_t
Request/reply: Change velocity control.
struct player_sonar_power_config player_sonar_power_config_t
Request/reply: Sonar power.
Command: Joint position control (PLAYER_ACTARRAY_CMD_POS)
Definition: player_interfaces.h:3872
player_ranger_config_t config
The sensor configuration at the time the scan was acquired.
Definition: player_interfaces.h:5047
uint32_t left
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1082
player_actarray_actuatorgeom_t * actuators
The geometry information for each actuator in the array.
Definition: player_interfaces.h:3859
player_bool_t link
link to next note, true to play both ntoes together (or if both were recieved together) ...
Definition: player_interfaces.h:1490
uint8_t origin
0 for fixed from base, 1 for mobile from base, 2 for mote-interface, 3 for Robot
Definition: player_interfaces.h:5431
player_point_2d_t * points
Array of points.
Definition: player_interfaces.h:4222
uint8_t num_beams
Number of breakbeams the gripper has.
Definition: player_interfaces.h:443
int32_t interf
Interface to set replace rule for (-1 for wildcard)
Definition: player_interfaces.h:235
struct player_position2d_position_mode_req player_position2d_position_mode_req_t
position2d position mode request
float accel_y
The node's acceleration on Y-axis from an acceleration sensor.
Definition: player_interfaces.h:4395
Command: state (PLAYER_POSITION1D_CMD_POS)
Definition: player_interfaces.h:3583
struct player_position1d_set_odom_req player_position1d_set_odom_req_t
Request/reply: Set odometry.
uint32_t text_count
Length of text.
Definition: player_interfaces.h:3398
uint32_t tones_count
number of tones in list
Definition: player_interfaces.h:1502
uint32_t data_count
Number of sensors included.
Definition: player_interfaces.h:5491
uint8_t stall
Is the motor stalled?
Definition: player_interfaces.h:3549
float q0
Orientation data as quaternions.
Definition: player_interfaces.h:4756
uint32_t beams
The position of the object in the gripper.
Definition: player_interfaces.h:423
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:3600
uint32_t id
A unique, increasing, ID for the scan.
Definition: player_interfaces.h:937
player_point_2d_t * points
Array of points to be joined by lines.
Definition: player_interfaces.h:4235
uint8_t * image
Compressed image data (byte-aligned, row major order).
Definition: player_interfaces.h:2972
float kp
PID parameters.
Definition: player_interfaces.h:2599
struct player_power_data player_power_data_t
Data: voltage (PLAYER_POWER_DATA_STATE)
float current
The current to move with.
Definition: player_interfaces.h:3930
Nameservice request.
Definition: player_interfaces.h:212
player_color_t fill_color
Color in which the polygon should be filled.
Definition: player_interfaces.h:4252
Request/reply: get geometry.
Definition: player_interfaces.h:3854
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
player_blobfinder_blob_t * blobs
The list of blobs.
Definition: player_interfaces.h:1105
uint32_t type
Tag type.
Definition: player_interfaces.h:4319
uint32_t maxqual
Maximum value for quality.
Definition: player_interfaces.h:2262
float dutycycle
flash duty cycle (ratio of time-on to time-off in one cycle).
Definition: player_interfaces.h:2887
player_color_t color
Color in which the outline should be drawn.
Definition: player_interfaces.h:4250
float panspeed
Desired pan velocity [rad/s].
Definition: player_interfaces.h:1257
struct player_graphics2d_cmd_multiline player_graphics2d_cmd_multiline_t
Command: Draw multiple lines (PLAYER_GRAPHICS2D_CMD_MULTILINE) Draw a set of lines.
int32_t joint
Joint to set speed for.
Definition: player_interfaces.h:3976
Request/reply: get geometry.
Definition: player_interfaces.h:433
char * name
Identifier for the layer.
Definition: player_interfaces.h:5181
struct player_position2d_speed_pid_req player_position2d_speed_pid_req_t
position2d speed PID req
uint8_t enable
FALSE: disabled, TRUE: enabled.
Definition: player_interfaces.h:2846
Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN)
Definition: player_interfaces.h:1700
float * voltages
the samples [V]
Definition: player_interfaces.h:2058
uint32_t height
The size of the tile [pixels].
Definition: player_interfaces.h:3069
struct player_laser_data_scanpose player_laser_data_scanpose_t
Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE)
float ki
PID parameters.
Definition: player_interfaces.h:3693
struct player_device_req player_device_req_t
Request/reply: (un)subscribe to a device.
player_color_t color
Color in which the points should be drawn.
Definition: player_interfaces.h:4224
float percent
Percent of full charge [%].
Definition: player_interfaces.h:301
A pose in the plane.
Definition: player.h:217
uint32_t data_count
length of raw data
Definition: player_interfaces.h:1466
float amplitude
level (normalised 0 to 1)
Definition: player_interfaces.h:1516
uint16_t port
The corresponding port.
Definition: player_interfaces.h:219
Command: state (PLAYER_BLINKENLIGHT_CMD_STATE) This blinkenlight command sets the complete current st...
Definition: player_interfaces.h:2841
Command: Draw polygon (PLAYER_GRAPHICS2D_CMD_POLYGON) Draw a polygon.
Definition: player_interfaces.h:4243
double z
translate distance along y axis
Definition: player_interfaces.h:4576
uint32_t mode
operating mode of device
Definition: player_interfaces.h:2258
int32_t colormode
Color Mode ( 0=RGB/AutoWhiteBalance Off, 1=RGB/AutoWhiteBalance On, 2=YCrCB/AWB Off, 3=YCrCb/AWB On) -1=no change.
Definition: player_interfaces.h:1163
Command: Joint home (PLAYER_ACTARRAY_CMD_HOME)
Definition: player_interfaces.h:3916
struct player_blobfinder_blob player_blobfinder_blob_t
Structure describing a single blob.
uint32_t features_count
The number of map features.
Definition: player_interfaces.h:5183
Definition: player_interfaces.h:5473
uint8_t have_geom
If non-zero, the geometry data has been filled.
Definition: player_interfaces.h:5070
Data.
Definition: player_interfaces.h:4329
uint32_t qual_type
Indicates type of link quality info we have.
Definition: player_interfaces.h:2260
Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT)
Definition: player_interfaces.h:3925
struct player_position1d_speed_pid_req player_position1d_speed_pid_req_t
Request/reply: Set velocity PID parameters.
struct player_gps_data player_gps_data_t
Data: state (PLAYER_GPS_DATA_STATE)
Command: Set end effector pose (PLAYER_LIMB_CMD_SETPOSE)
Definition: player_interfaces.h:4091
Data: calibrated IMU data (PLAYER_IMU_DATA_STATE)
Definition: player_interfaces.h:4714
int32_t type
message type to set replace rule for (-1 for wildcard), i.e.
Definition: player_interfaces.h:239
uint8_t state
state: TRUE to enable, FALSE to disable
Definition: player_interfaces.h:3199
struct player_localize_data player_localize_data_t
Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS)
uint8_t * intensity
Intensity readings.
Definition: player_interfaces.h:935
struct player_vectormap_layer_data player_vectormap_layer_data_t
Vectormap data.
player_health_memory_t swap
The swap stats.
Definition: player_interfaces.h:4652
uint8_t * parameters
The comand info not previously included.
Definition: player_interfaces.h:5545
Request/reply: Rewind playback.
Definition: player_interfaces.h:3286
uint32_t serial_number
Laser device serial number.
Definition: player_interfaces.h:996
struct player_ranger_data_intns player_ranger_data_intns_t
Data: intensity scan (PLAYER_RANGER_DATA_INTNS)
uint32_t height
Image dimensions [pixels].
Definition: player_interfaces.h:2955
Data AND Request/reply: bumper geometry.
Definition: player_interfaces.h:1948
struct player_position3d_data player_position3d_data_t
Data: state (PLAYER_POSITION3D_DATA_STATE)
uint32_t hypoths_count
The number of pose hypotheses.
Definition: player_interfaces.h:2358
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:620
Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE)
Definition: player_interfaces.h:4780
uint32_t poses_count
the number of ir samples returned by this robot
Definition: player_interfaces.h:2133
#define PLAYER_MAX_DEVICES
The maximum number of devices the server will support.
Definition: player.h:74
player_point_3d_t base_pos
The position of the base of the actarray.
Definition: player_interfaces.h:3862
An angle in 3D space.
Definition: player.h:206
int32_t replace
Should we replace these messages.
Definition: player_interfaces.h:243
Request/reply: Power.
Definition: player_interfaces.h:3953
uint8_t command
Command.
Definition: player_interfaces.h:5540
uint32_t value
driver-specific
Definition: player_interfaces.h:3633
struct player_vectormap_feature_data player_vectormap_feature_data_t
Vectormap feature data.
player_bool_t active
active (set to false to mute channel)
Definition: player_interfaces.h:1518
Request/reply: Brakes.
Definition: player_interfaces.h:3963
uint32_t bmax
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1135
struct player_health_data player_health_data_t
Structure describing the HEALTH's data packet.
uint32_t bumpers_count
the number of valid bumper readings
Definition: player_interfaces.h:1925
double min_angle
Start angle of scans [rad].
Definition: player_interfaces.h:4986
#define PLAYER_LASER_MAX_FILTER_PARAMS
Filter setings.
Definition: player_interfaces.h:874
float kp
PID parameters.
Definition: player_interfaces.h:3676
uint32_t count
number of samples
Definition: player_interfaces.h:1997
Data: recognized string.
Definition: player_interfaces.h:3395
player_pose2d_t origin
The origin of the map [m, m, rad].
Definition: player_interfaces.h:3049
float gyro_y
The IMU's calibrated gyro value on Y-axis.
Definition: player_interfaces.h:4735
A device address.
Definition: player.h:145
struct player_actarray_multi_speed_cmd player_actarray_multi_speed_cmd_t
Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED)
Request/reply: Set tracking color.
Definition: player_interfaces.h:1118
struct player_ranger_config player_ranger_config_t
Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG)
struct player_wifi_mac_req player_wifi_mac_req_t
Request/reply:
char * name
Descriptive channel name.
Definition: player_interfaces.h:1557
struct player_laser_power_config player_laser_power_config_t
Request/reply: Turn power on/off.
struct player_ranger_intns_config player_ranger_intns_config_t
Request/reply: Turn intensity data on/off for devices that provide it (PLAYER_RANGER_REQ_INTNS) ...
player_color_t color
Color in which the points should be drawn.
Definition: player_interfaces.h:4565
struct player_coopobject_sensor player_coopobject_sensor_t
Data subtypes.
uint32_t element_poses_count
Number of individual elements that make up the device.
Definition: player_interfaces.h:5012
float scale
The scale of the map [m/pixel].
Definition: player_interfaces.h:3042
uint32_t srid
Spatial reference identifier.
Definition: player_interfaces.h:5192
uint32_t color
A descriptive color for the blob (useful for gui's).
Definition: player_interfaces.h:1074
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:925
float pan
Pan [rad].
Definition: player_interfaces.h:1231
player_pose3d_t vel
(x, y, z, roll, pitch, yaw) velocity [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2481
struct player_position2d_geom player_position2d_geom_t
position2d geom
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:622
uint8_t * data
The node info not previously included.
Definition: player_interfaces.h:5509
struct player_device_driverinfo player_device_driverinfo_t
Request/reply: Get the driver name for a particular device.
float position
The position of the actuator in m or rad depending on the type.
Definition: player_interfaces.h:3796
uint32_t angles_count
Number of agle readings.
Definition: player_interfaces.h:929
float speed
The speed to move with.
Definition: player_interfaces.h:3899
struct player_position3d_position_mode_req player_position3d_position_mode_req_t
Request/reply: Change position control.
uint8_t done
Have we arrived at the goal?
Definition: player_interfaces.h:3152
uint32_t config_count
Length of data in config buffer.
Definition: player_interfaces.h:1290
struct player_fiducial_item player_fiducial_item_t
Info on a single detected fiducial.
uint8_t value
Brakes setting; 0 for off, 1 for on.
Definition: player_interfaces.h:4141
double y
translate distance along x axis
Definition: player_interfaces.h:4575
player_audio_mixer_channel_t * channels
the channels
Definition: player_interfaces.h:1535
uint32_t waypoints_count
Number of waypoints in the plan.
Definition: player_interfaces.h:3164
uint8_t stall
Are the motors stalled?
Definition: player_interfaces.h:613
The WSN position packet provides the position of the node.
Definition: player_interfaces.h:5457
player_pose3d_t vel
The complete velocity of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4785
player_pose2d_t mean
The mean value of the pose estimate (m, m, rad).
Definition: player_interfaces.h:2370
uint32_t mode
Mode to use: must be either PLAYER_PTZ_VELOCITY_CONTROL or PLAYER_PTZ_POSITION_CONTROL.
Definition: player_interfaces.h:1305
struct player_ranger_data_intnsstamped player_ranger_data_intnsstamped_t
Data: Stamped intensity scan (PLAYER_RANGER_DATA_INTNSSTAMPED)
uint32_t ranges_count
The number of valid range readings.
Definition: player_interfaces.h:774
uint32_t voltages_count
number of valid samples
Definition: player_interfaces.h:2056
player_pose3d_t pose
the desired pose in (m, m, m, rad, rad, rad)
Definition: player_interfaces.h:2733
float radius
radius of curvature [m] - zero for straight lines
Definition: player_interfaces.h:1938
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:667
Data: state (PLAYER_LIMB_DATA_STATE)
Definition: player_interfaces.h:4072
Structure containing a single actuator's information.
Definition: player_interfaces.h:3793
uint8_t * data
The data we will be sending.
Definition: player_interfaces.h:3454
uint32_t fdiv
Some images (such as disparity maps) use scaled pixel values; for these images, fdiv specifies the sc...
Definition: player_interfaces.h:2963
struct player_sonar_geom player_sonar_geom_t
Data AND Request/reply: geometry.
struct player_fiducial_data player_fiducial_data_t
Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN)
Request/reply: Motor power.
Definition: player_interfaces.h:2533
Request/reply: get geometry.
Definition: player_interfaces.h:4147
float kd
PID parameters.
Definition: player_interfaces.h:3695
struct player_position3d_position_pid_req player_position3d_position_pid_req_t
Request/reply: Set position PID parameters.
player_point_3d_t position
Position of the end effector.
Definition: player_interfaces.h:4094
double * intensities
Intensity readings.
Definition: player_interfaces.h:5058
Command: color (PLAYER_BLINKENLIGHT_CMD_COLOR) This blinkenlight command sets the color of the light...
Definition: player_interfaces.h:2869
struct player_speech_recognition_data player_speech_recognition_data_t
Data: recognized string.
float maxx
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3087
struct player_simulation_property_req player_simulation_property_req_t
Request/reply: get/set a property of a named simulation object.
float vel
translational velocities [m/s] or [rad/s] depending on actuator type
Definition: player_interfaces.h:3547
double variance
The variance of the best (?) pose (mm^2)
Definition: player_interfaces.h:2397
player_pose2d_t goal
Goal location (m,m,rad)
Definition: player_interfaces.h:3156
Data: state (PLAYER_POSITION3D_DATA_STATE)
Definition: player_interfaces.h:2476
double utm_e
UTM WGS84 coordinates, easting [m].
Definition: player_interfaces.h:1864
Request/reply: (un)subscribe to a device.
Definition: player_interfaces.h:140
uint32_t x
The blob centroid [pixels].
Definition: player_interfaces.h:1078
struct player_localize_set_pose player_localize_set_pose_t
Request/reply: Set the robot pose estimate.
struct player_joystick_data player_joystick_data_t
Data: state (PLAYER_JOYSTICK_DATA_STATE)
uint32_t throughput
mysterious throughput calculated by driver
Definition: player_interfaces.h:2254
Player audio sample record request.
Definition: player_interfaces.h:1613
Request/reply: Query geometry.
Definition: player_interfaces.h:3597
Request/reply: Power.
Definition: player_interfaces.h:4128
float py
Y [m].
Definition: player_interfaces.h:5289
struct player_imu_data_quat player_imu_data_quat_t
Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT)
char * attrib
Attrib data for the feature.
Definition: player_interfaces.h:5162
struct player_wsn_data player_wsn_data_t
Data (PLAYER_WSN_DATA_STATE)
float battery
The node's remaining battery voltage.
Definition: player_interfaces.h:4407
Data: Euler orientation data (PLAYER_IMU_DATA_EULER)
Definition: player_interfaces.h:4766
uint8_t state
FALSE to turn laser off, TRUE to turn laser on.
Definition: player_interfaces.h:986
struct player_ptz_req_generic player_ptz_req_generic_t
Request/reply: Generic request.
uint32_t parameters_count
The number of filter parameters.
Definition: player_interfaces.h:1021
Definition: player_interfaces.h:5165
uint32_t node_id
The ID of the WSN node.
Definition: player_interfaces.h:4418
float period
flash period (duration of one whole on-off cycle) [s].
Definition: player_interfaces.h:2885
A point in the plane.
Definition: player.h:184
player_pose3d_t * element_poses
Pose of each individual element that makes up the device (in device CS).
Definition: player_interfaces.h:5014
player_point_3d_t * points
Array of points.
Definition: player_interfaces.h:4563
struct player_planner_cmd player_planner_cmd_t
Command: start or goal position (PLAYER_PLANNER_CMD_GOAL, PLAYER_PLANNER_CMD_START) ...
player_ranger_data_intns_t data
The scan data.
Definition: player_interfaces.h:5068
Command: state (PLAYER_AIO_CMD_STATE)
Definition: player_interfaces.h:2064
player_pose2d_t pose
The global pose of the laser at the time the scan was acquired.
Definition: player_interfaces.h:914
Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)
Definition: player_interfaces.h:2504
struct player_wsn_datatype_config player_wsn_datatype_config_t
Request/reply: change the data type to RAW or converted engineering units.
uint32_t maxlevel
Maximum value for level.
Definition: player_interfaces.h:2264
uint32_t bmin
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1133
uint8_t blue
Blue color channel.
Definition: player_interfaces.h:5297
struct player_position1d_data player_position1d_data_t
Data: state (PLAYER_POSITION1D_DATA_STATE)
uint8_t * wkb
Well known binary describing the geometric shape.
Definition: player_interfaces.h:5157
double max_angle
End angle of scans [rad].
Definition: player_interfaces.h:4988
struct player_localize_hypoth player_localize_hypoth_t
Hypothesis format.
position2d geom
Definition: player_interfaces.h:655
uint32_t tags_count
The number of RFID tags found.
Definition: player_interfaces.h:4332
struct player_audio_sample player_audio_sample_t
Player audio sample.
float ki
PID parameters.
Definition: player_interfaces.h:3678
float amplitude
amplitude
Definition: player_interfaces.h:1488
player_bbox3d_t * element_sizes
Size of each individual element that makes up the device.
Definition: player_interfaces.h:5018
uint32_t particles_count
The number of particles included.
Definition: player_interfaces.h:2399
uint32_t auth_key_count
Length of key.
Definition: player_interfaces.h:201
uint16_t id
identify the light we are addressing
Definition: player_interfaces.h:2844
player_bbox3d_t size
Dimensions of the base [m, m, m].
Definition: player_interfaces.h:1278
uint32_t actuators_count
The number of actuators in the array.
Definition: player_interfaces.h:3857
player_graphics3d_draw_mode
Drawmode: enumeration that defines the drawing mode.
Definition: player_interfaces.h:4534
Request/reply: Reset odometry.
Definition: player_interfaces.h:2582
player_bbox3d_t size
Laser dimensions (m, m, m).
Definition: player_interfaces.h:950
uint32_t time_sec
GPS (UTC) time, in seconds and microseconds since the epoch.
Definition: player_interfaces.h:1844
Data: voltage (PLAYER_POWER_DATA_STATE)
Definition: player_interfaces.h:291
player_bbox2d_t fiducial_size
Dimensions of the fiducials in units of (m).
Definition: player_interfaces.h:1721
struct player_gripper_geom player_gripper_geom_t
Request/reply: get geometry.
double velocity
forward velocity (m/s)
Definition: player_interfaces.h:649
Configuration request: Set imager params.
Definition: player_interfaces.h:1153
Request/reply: Turn power on/off (PLAYER_RANGER_REQ_POWER)
Definition: player_interfaces.h:5082
uint8_t * parameters
Request message parameters.
Definition: player_interfaces.h:5526
player_color_t color
the color of the light
Definition: player_interfaces.h:2874
int32_t default_output
default output channel (-1 for none)
Definition: player_interfaces.h:1576
char * name
Identifier for the geometric shape.
Definition: player_interfaces.h:5153
Request/reply: Set position PID parameters.
Definition: player_interfaces.h:3688
uint8_t state
State: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3272
struct player_blinkenlight_cmd_power player_blinkenlight_cmd_power_t
Command: power (PLAYER_BLINKENLIGHT_CMD_POWER) This blinkenlight command turns the light on or off...
Request/reply:
Definition: player_interfaces.h:2280
float period
flash period (duration of one whole on-off cycle) [s].
Definition: player_interfaces.h:2848
struct player_actarray_geom player_actarray_geom_t
Request/reply: get geometry.
uint32_t points_count
Number of points in this packet.
Definition: player_interfaces.h:4220
int32_t autogain
AutoGain: 0=off, 1=on.
Definition: player_interfaces.h:1165
Command: Draw multiple lines (PLAYER_GRAPHICS2D_CMD_MULTILINE) Draw a set of lines.
Definition: player_interfaces.h:4260
Command: Rotate coordinate system (PLAYER_GRAPHICS3D_CMD_ROTATE) Rotate the current coordinate system...
Definition: player_interfaces.h:4582
double simtime
simulation time when PLAYER_SIMULATION_REQ_GET_POSE3D was serviced.
Definition: player_interfaces.h:2735
struct player_position1d_cmd_pos player_position1d_cmd_pos_t
Command: state (PLAYER_POSITION1D_CMD_POS)
struct player_sonar_data player_sonar_data_t
Data: ranges (PLAYER_SONAR_DATA_RANGES)
uint32_t mac_count
MAC address.
Definition: player_interfaces.h:2275
player_point_3d_t approach
The approach vector of the end effector.
Definition: player_interfaces.h:4077
player_pose3d_t * poses
the pose of each IR detector on this robot
Definition: player_interfaces.h:2135
Request/reply: Control mode.
Definition: player_interfaces.h:1301
float accel_z
The IMU's calibrated acceleration value on Z-axis.
Definition: player_interfaces.h:4731
Data: Stamped range scan (PLAYER_RANGER_DATA_RANGESTAMPED)
Definition: player_interfaces.h:5036
int64_t free
Free memory.
Definition: player_interfaces.h:4641
double err_vert
Vertical error [m].
Definition: player_interfaces.h:1878
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1922
char * name
Identifier for the layer.
Definition: player_interfaces.h:5170
uint32_t num_sats
Number of satellites in view.
Definition: player_interfaces.h:1870
uint32_t id
Blob id.
Definition: player_interfaces.h:1071
float range_res
Range Resolution [m].
Definition: player_interfaces.h:972
struct player_blobfinder_imager_config player_blobfinder_imager_config_t
Configuration request: Set imager params.
Command.
Definition: player_interfaces.h:2698
uint8_t capacity
Capacity for storing objects - if 0, then the gripper can't store.
Definition: player_interfaces.h:445
uint32_t wkb_count
Length of data in bytes.
Definition: player_interfaces.h:5155
struct player_fiducial_fov player_fiducial_fov_t
Request/reply: Get/set sensor field of view.
Data: ranges (PLAYER_IR_DATA_RANGES)
Definition: player_interfaces.h:2115
Command: send command from robot to any or all WSN nodes or viceversa.
Definition: player_interfaces.h:5535
uint8_t filter_type
Filter type.
Definition: player_interfaces.h:1019
float accel
Acceleration setting in m/s^2 or rad/s^2.
Definition: player_interfaces.h:3991
struct player_coopobject_rssi player_coopobject_rssi_t
Data (PLAYER_COOPOBJECT_DATA_RSSI)
player_orientation_3d_t base_orientation
The orientation of the base of the actarray.
Definition: player_interfaces.h:3865
player_bbox3d_t size
Size of the detector.
Definition: player_interfaces.h:1719
player_bbox3d_t size
Dimensions of the base (m, m, m).
Definition: player_interfaces.h:2520
uint32_t digout
output bitfield
Definition: player_interfaces.h:2011
uint32_t points_count
Number of points in this packet.
Definition: player_interfaces.h:4246
struct player_audio_sample_rec_req player_audio_sample_rec_req_t
Player audio sample record request.
int64_t used
Used memory.
Definition: player_interfaces.h:4639
uint32_t points_count
Number of points in this packet.
Definition: player_interfaces.h:4561
Data: This interface produces no data.
Definition: player_interfaces.h:4217
player_point_3d_t orientation
Orientation vector.
Definition: player_interfaces.h:4098
uint32_t gmax
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1131
uint32_t bumper_def_count
The number of valid bumper definitions.
Definition: player_interfaces.h:1951
struct player_gripper_data player_gripper_data_t
Data: state (PLAYER_GRIPPER_DATA_STATE)
float ki
PID parameters.
Definition: player_interfaces.h:709
struct player_graphics3d_cmd_rotate player_graphics3d_cmd_rotate_t
Command: Rotate coordinate system (PLAYER_GRAPHICS3D_CMD_ROTATE) Rotate the current coordinate system...
uint32_t prop_count
Length of property identifier.
Definition: player_interfaces.h:2765
float kp
PID parameters.
Definition: player_interfaces.h:707
uint32_t axes_count
Nunber of axes.
Definition: player_interfaces.h:3355
struct player_device_nameservice_req player_device_nameservice_req_t
Nameservice request.
Vectormap info.
Definition: player_interfaces.h:5189
player_wifi_link_t * links
A list of links.
Definition: player_interfaces.h:2252
struct player_planner_waypoints_req player_planner_waypoints_req_t
Request/reply: Get waypoints.
struct player_coopobject_data_userdefined player_coopobject_data_userdefined_t
Data (PLAYER_COOPOBJECT_DATA_USERDEFINED)
player_vectormap_feature_data_t * features
Array of map features.
Definition: player_interfaces.h:5185
player_devaddr_t devices[PLAYER_MAX_DEVICES]
The list of available devices.
Definition: player_interfaces.h:104
struct player_actarray_actuator player_actarray_actuator_t
Structure containing a single actuator's information.
struct player_limb_brakes_req player_limb_brakes_req_t
Request/reply: Brakes.
struct player_audio_mixer_channel_list_detail player_audio_mixer_channel_list_detail_t
Player mixer channels.
uint32_t positions_count
The number of actuators in the array.
Definition: player_interfaces.h:3886
struct player_ptz_cmd player_ptz_cmd_t
Command: state (PLAYER_PTZ_CMD_STATE)
Data: state (PLAYER_BLINKENLIGHT_DATA_STATE) The blinkenlight data provides the current state of the ...
Definition: player_interfaces.h:2826
struct player_laser_geom player_laser_geom_t
Request/reply: Get geometry.
uint32_t id
The value displayed.
Definition: player_interfaces.h:1758
int32_t waypoint_idx
Current waypoint index (handy if you already have the list of waypoints).
Definition: player_interfaces.h:3162
struct player_bumper_geom player_bumper_geom_t
Data AND Request/reply: bumper geometry.
player_localize_hypoth_t * hypoths
The array of the hypotheses.
Definition: player_interfaces.h:2360
uint8_t * bumpers
array of bumper values
Definition: player_interfaces.h:1927
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:3575
Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT)
Definition: player_interfaces.h:4750
double course
Course made good (heading if the robot moves along its longitudinal axis), in radians.
Definition: player_interfaces.h:1862
float pos
(x) [m] or [rad]
Definition: player_interfaces.h:3665
float speed
max speed [m/s]
Definition: player_interfaces.h:718
uint32_t width
The size of the map [pixels].
Definition: player_interfaces.h:3044
struct player_position1d_cmd_vel player_position1d_cmd_vel_t
Command: state (PLAYER_POSITION1D_CMD_VEL)
float minx
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3085
Request/reply: Get/set current source.
Definition: player_interfaces.h:2979
int32_t node_id
The ID of the WSN node.
Definition: player_interfaces.h:4431
float accel_z
The node's acceleration on Z-axis from an acceleration sensor.
Definition: player_interfaces.h:4397
uint16_t parent_id
The ID of the CO parent (if existing).
Definition: player_interfaces.h:5435
Command: Vector move the end effector (PLAYER_LIMB_CMD_VECMOVE)
Definition: player_interfaces.h:4115
Player audio sequence.
Definition: player_interfaces.h:1499
uint32_t hdop
Horizontal dilution of position (HDOP), times 10.
Definition: player_interfaces.h:1872
uint32_t filename_count
Length of filename.
Definition: player_interfaces.h:3302
double min_range
Minimum range [m].
Definition: player_interfaces.h:4993
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:629
struct player_pointcloud3d_element player_pointcloud3d_element_t
3D Pointcloud element structure An element as stored in a 3D pointcloud, containing a 3D position plu...
Request/reply: Turn power on/off.
Definition: player_interfaces.h:983
struct player_speech_cmd player_speech_cmd_t
Command: say a string (PLAYER_SPEECH_CMD_SAY)
uint32_t value
driver-specific
Definition: player_interfaces.h:3643
struct player_laser_set_filter_config player_laser_set_filter_config_t
Request/reply: Set filter settings.
struct player_coopobject_position player_coopobject_position_t
The WSN position packet provides the position of the node.
Structure describing the HEALTH's data packet.
Definition: player_interfaces.h:4645
player_pose2d_t * waypoints
The waypoints.
Definition: player_interfaces.h:3188
uint32_t name_count
Length of name.
Definition: player_interfaces.h:2713
player_health_cpu_t cpu_usage
The current cpu usage.
Definition: player_interfaces.h:4648
struct player_graphics3d_cmd_translate player_graphics3d_cmd_translate_t
Command: Translate coordinate system (PLAYER_GRAPHICS3D_CMD_TRANSLATE) Translate the current coordina...
struct player_imu_datatype_config player_imu_datatype_config_t
Request/reply: change the data type to one of the predefined data structures.
uint32_t currents_count
The number of actuators in the array.
Definition: player_interfaces.h:3939
int32_t group_id
The Group ID of the WSN node.
Definition: player_interfaces.h:4449
player_point_3d_t basePos
The base position of the end-effector in robot coordinates.
Definition: player_interfaces.h:4150
Data: state (PLAYER_STEREO_DATA_STATE)
Definition: player_interfaces.h:5301
player_point_3d_t approach
Approach vector.
Definition: player_interfaces.h:4096
Request/reply: Reset euler orientation.
Definition: player_interfaces.h:4821
Data: intensity scan (PLAYER_RANGER_DATA_INTNS)
Definition: player_interfaces.h:5053
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5151
player_pose3d_t pos
(x, y, z, roll, pitch, yaw) position [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2479
uint32_t value
driver-specific
Definition: player_interfaces.h:674
Data: state (PLAYER_GRIPPER_DATA_STATE)
Definition: player_interfaces.h:418
int32_t index
index to set replace rule for (-1 for wildcard)
Definition: player_interfaces.h:237
A rectangular bounding box, used to define the size of an object.
Definition: player.h:245
struct player_map_info player_map_info_t
Data subtype: grid map metadata.
struct player_position2d_speed_prof_req player_position2d_speed_prof_req_t
speed prof req
player_wsn_node_data_t data_packet
The WSN node's data packet.
Definition: player_interfaces.h:4422
struct player_wifi_iwspy_addr_req player_wifi_iwspy_addr_req_t
Request/reply:
uint32_t name_count
Length of name.
Definition: player_interfaces.h:2761
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:2509
player_bbox3d_t inner_size
Inside dimensions of gripper, i.e.
Definition: player_interfaces.h:441
float tiltspeed
Desired tilt velocity [rad/s].
Definition: player_interfaces.h:1259
Request/reply: Set odometry.
Definition: player_interfaces.h:2567
Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE)
Definition: player_interfaces.h:909
Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS)
Definition: player_interfaces.h:1096
struct player_wsn_node_data player_wsn_node_data_t
Structure describing the WSN node's data packet.
struct player_blinkenlight_data player_blinkenlight_data_t
Data: state (PLAYER_BLINKENLIGHT_DATA_STATE) The blinkenlight data provides the current state of the ...
float volts
Battery voltage [V].
Definition: player_interfaces.h:299
float accel_x
The IMU's calibrated acceleration value on X-axis.
Definition: player_interfaces.h:4727
uint16_t id
The ID of the CO.
Definition: player_interfaces.h:5433
player_pose2d_t pose
(x, y, yaw) [m, m, rad]
Definition: player_interfaces.h:689
struct player_log_set_filename player_log_set_filename_t
Request/reply: Set filename.
uint32_t node_type
The type of WSN node.
Definition: player_interfaces.h:4416
Request/reply: Get/set sensor field of view.
Definition: player_interfaces.h:1730
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, rad).
Definition: player_interfaces.h:658
char * string
The string to say.
Definition: player_interfaces.h:1802
struct player_actarray_current_cmd player_actarray_current_cmd_t
Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT)
float zoom
Field of view [rad].
Definition: player_interfaces.h:1235
player_devaddr_t addr
The device identifier.
Definition: player_interfaces.h:116
struct player_wifi_link player_wifi_link_t
Link information for one host.
Command: Draw polyline (PLAYER_GRAPHICS2D_CMD_POLYLINE) Draw a series of straight line segments betwe...
Definition: player_interfaces.h:4230
struct player_map_data player_map_data_t
Request/reply: get grid map tile.
position2d position command
Definition: player_interfaces.h:626
player_pose3d_t acc
The complete acceleration of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4787
float * speeds
The speed to move with.
Definition: player_interfaces.h:3910
float kp
PID parameters.
Definition: player_interfaces.h:696
double angle
absolute turning angle (rad)
Definition: player_interfaces.h:651
Request/reply:
Definition: player_interfaces.h:2272
uint32_t points_count
Number of points in this packet.
Definition: player_interfaces.h:4233
uint32_t format
Image format (must be compatible with depth).
Definition: player_interfaces.h:2959
float acc
max acceleration [m/s^2] or [rad/s^2]
Definition: player_interfaces.h:3708
player_point_3d_t position
Position of the end effector.
Definition: player_interfaces.h:4108
Data.
Definition: player_interfaces.h:2688
struct player_blobfinder_color_config player_blobfinder_color_config_t
Request/reply: Set tracking color.
float duration
duration [s]
Definition: player_interfaces.h:1486
Data and Request/reply: Get geometry.
Definition: player_interfaces.h:5005
struct player_localize_particle player_localize_particle_t
A particle.
struct player_simulation_pose3d_req player_simulation_pose3d_req_t
Request/reply: get/set 3D pose of a named simulation object.
position2d command setting velocity and steering angle
Definition: player_interfaces.h:637
float pan
Desired pan angle [rad].
Definition: player_interfaces.h:1251
uint32_t waypoints_count
Number of waypoints to follow.
Definition: player_interfaces.h:3186
Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED)
Definition: player_interfaces.h:3905
player_pose3d_t vel
(x, y, z, roll, pitch, yaw) velocity [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2507
struct player_device_auth_req player_device_auth_req_t
Configuration request: Authentication.
Request/reply: Get/set fiducial ID.
Definition: player_interfaces.h:1755
float position
The position to move to.
Definition: player_interfaces.h:3877
player_actarray_actuator_t * actuators
The actuator data.
Definition: player_interfaces.h:3815
float * positions
The positions for each joint/actuator.
Definition: player_interfaces.h:3888
uint8_t caps
Channel type (input, output or special)
Definition: player_interfaces.h:1559
uint32_t rmax
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1127
Request/reply: Change control mode.
Definition: player_interfaces.h:3651
float * ranges
ranges [m]
Definition: player_interfaces.h:2124
player_point_2d_t * points
array of points defining the polygon.
Definition: player_interfaces.h:4248
struct player_camera_data player_camera_data_t
Data: state (PLAYER_CAMERA_DATA_STATE)
uint8_t value
Power setting: 0 for off, 1 for on.
Definition: player_interfaces.h:4451
player_point_3d_t axis
The axis of rotation for this actuator if it is rotary, or axis along which it moves if it is linear...
Definition: player_interfaces.h:3835
float acceleration
The acceleration of the actuator in m/s^2 or rad/s^2 depending on the type.
Definition: player_interfaces.h:3800
struct player_log_get_state player_log_get_state_t
Request/reply: Rewind playback.
float pos
position [m] or [rad]
Definition: player_interfaces.h:3586
position2d velocity mode config
Definition: player_interfaces.h:671
int32_t joint
The joint/actuator to command.
Definition: player_interfaces.h:3875
float * ranges
Range readings [m].
Definition: player_interfaces.h:927
double waypoints_distance
Straight-line distance along all waypoints.
Definition: player_interfaces.h:3184
struct player_blobfinder_data player_blobfinder_data_t
Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS)
Data: state (PLAYER_WIFI_DATA_STATE)
Definition: player_interfaces.h:2247
struct player_bumper_define player_bumper_define_t
The geometry of a single bumper.
float scanning_frequency
Scanning frequency [Hz].
Definition: player_interfaces.h:976
float current
The current of the actuator in A.
Definition: player_interfaces.h:3802
Request/reply: Change velocity control.
Definition: player_interfaces.h:2557
float px
X [m].
Definition: player_interfaces.h:5287
Configuration request: Change data delivery mode.
Definition: player_interfaces.h:159
double * ranges
Range readings [m].
Definition: player_interfaces.h:5029
struct player_imu_data_euler player_imu_data_euler_t
Data: Euler orientation data (PLAYER_IMU_DATA_EULER)
Request/reply: Motor power.
Definition: player_interfaces.h:3616
position2d speed PID req
Definition: player_interfaces.h:693
int32_t longitude
Longitude in degrees / 1e7 (units are scaled such that the effective resolution is roughly 1cm)...
Definition: player_interfaces.h:1854
uint32_t voltages_count
number of samples
Definition: player_interfaces.h:2118
uint32_t data_count
Size of data as stored in buffer (bytes)
Definition: player_interfaces.h:3452
int32_t joint
The joint/actuator to command.
Definition: player_interfaces.h:3897
Data: This interface produces no data.
Definition: player_interfaces.h:4556
uint32_t rmin
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1125
struct player_laser_config player_laser_config_t
Request/reply: Get/set scan properties.
struct player_dio_data player_dio_data_t
Data: input values (PLAYER_DIO_DATA_VALUES)
struct player_ptz_geom player_ptz_geom_t
Request/reply: Query geometry.
Request/reply: get grid map tile.
Definition: player_interfaces.h:3060
player_devaddr_t addr
Address of the device.
Definition: player_interfaces.h:143
uint8_t state
FALSE for power off, TRUE for power on.
Definition: player_interfaces.h:2145
Vectormap data.
Definition: player_interfaces.h:5176
position2d position mode request
Definition: player_interfaces.h:679
float idle
The idle cpu load.
Definition: player_interfaces.h:4626
struct player_audio_wav player_audio_wav_t
Data: Raw audio data.
player_pose3d_t pose
Gripper pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:436
float acc
max acceleration [m/s^2]
Definition: player_interfaces.h:720
uint8_t value
Power setting; 0 for off, 1 for on.
Definition: player_interfaces.h:3956
player_vectormap_layer_info_t * layers
Array of layers.
Definition: player_interfaces.h:5196
Data: Get cloud (PLAYER_POINTCLOUD3D_DATA_STATE) The basic 3dcloudpoint data packet.
Definition: player_interfaces.h:4879
uint32_t actuators_count
The number of actuators in the array.
Definition: player_interfaces.h:3813
player_pose2d_t mean
The mean value of the pose estimate (m, m, rad).
Definition: player_interfaces.h:2338
float light
The node's light measurement from a light sensor.
Definition: player_interfaces.h:4389
Request/reply: Query pan/tilt status.
Definition: player_interfaces.h:1265
struct player_position1d_power_config player_position1d_power_config_t
Request/reply: Motor power.
float max_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:966
float speed
Speed setting in m/s.
Definition: player_interfaces.h:4160
Request/reply: Generic request.
Definition: player_interfaces.h:1287
uint8_t intensity
Enable reflection intensity data.
Definition: player_interfaces.h:974
Data AND Request/reply: geometry.
Definition: player_interfaces.h:785
int32_t group_id
The Group ID of the WSN node.
Definition: player_interfaces.h:4475
struct player_blinkenlight_cmd player_blinkenlight_cmd_t
Command: state (PLAYER_BLINKENLIGHT_CMD_STATE) This blinkenlight command sets the complete current st...
Request/reply: change the data type to RAW or converted engineering units.
Definition: player_interfaces.h:4459
uint32_t ranges_count
number of samples
Definition: player_interfaces.h:2122
struct player_rfid_tag player_rfid_tag_t
Structure describing a single RFID tag.
struct player_audio_mixer_channel_list player_audio_mixer_channel_list_t
Player mixer channels.
Request/reply: get/set a property of a named simulation object.
Definition: player_interfaces.h:2758
Command: flash (PLAYER_BLINKENLIGHT_CMD_FLASH) This blinkenlight command sets the duration of one on/...
Definition: player_interfaces.h:2880
Request/reply: Set playback state.
Definition: player_interfaces.h:3269
player_color_t color
the color of the light
Definition: player_interfaces.h:2835
struct player_graphics2d_cmd_points player_graphics2d_cmd_points_t
Data: This interface produces no data.
float kd
PID parameters.
Definition: player_interfaces.h:2589
player_color_t color
Color in which the line should be drawn.
Definition: player_interfaces.h:4267
float accel_x
The node's acceleration on X-axis from an acceleration sensor.
Definition: player_interfaces.h:4393
struct player_position2d_position_pid_req player_position2d_position_pid_req_t
position2d position pid req
Request/reply: Set position PID parameters.
Definition: player_interfaces.h:2596
double velocity
forward velocity (m/s)
Definition: player_interfaces.h:640
int8_t data_range
Maximum value for each cell (-range <= EMPTY < 0, unknown = 0, 0 < OCCUPIED <= range) ...
Definition: player_interfaces.h:3073
Command: state (PLAYER_POSITION1D_CMD_VEL)
Definition: player_interfaces.h:3570
player_pose2d_t pose
The particle&#39;s pose (m,m,rad)
Definition: player_interfaces.h:2382
uint32_t device
The device number.
Definition: player_interfaces.h:4435
uint32_t count
the command
Definition: player_interfaces.h:2009
player_pose2d_t pose
the desired pose in (m, m, rad)
Definition: player_interfaces.h:2717
uint8_t state
The current state of the actuator.
Definition: player_interfaces.h:3804
float kd
PID parameters.
Definition: player_interfaces.h:711
float system
The system cpu load.
Definition: player_interfaces.h:4628
Data: state (PLAYER_CAMERA_DATA_STATE)
Definition: player_interfaces.h:2950
struct player_ranger_geom player_ranger_geom_t
Data and Request/reply: Get geometry.
struct player_ptz_data player_ptz_data_t
Data: state (PLAYER_PTZ_DATA_STATE)
A boolean variable, 0 for false anything else for true.
Definition: player.h:333
float user
The user&#39;s cpu load.
Definition: player_interfaces.h:4630
A particle.
Definition: player_interfaces.h:2379
float max_range
The maximum range of the sensor [m].
Definition: player_interfaces.h:1735
uint8_t value
Brake setting; 0 for off, 1 for on.
Definition: player_interfaces.h:3966
float max_range
Maximum range [m].
Definition: player_interfaces.h:892
position2d position pid req
Definition: player_interfaces.h:704
Request/reply: Set velocity PID parameters.
Definition: player_interfaces.h:3673
struct player_graphics3d_cmd_draw player_graphics3d_cmd_draw_t
Data: This interface produces no data.
float max_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:888
uint32_t channels_count
number of channels in list
Definition: player_interfaces.h:1533
float * ranges
Range readings [m].
Definition: player_interfaces.h:896
player_pose3d_t pos
Pose of the ptz base.
Definition: player_interfaces.h:1276
Structure describing a single RFID tag.
Definition: player_interfaces.h:4316
struct player_position3d_cmd_pos player_position3d_cmd_pos_t
Command: position (PLAYER_POSITION3D_CMD_SET_POS)
uint8_t state
State: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3262
char * name
The identifier of the object we want to locate.
Definition: player_interfaces.h:2763
uint32_t col
The tile origin [pixels].
Definition: player_interfaces.h:3063
struct player_coopobject_data_sensor player_coopobject_data_sensor_t
Data (PLAYER_COOPOBJECT_DATA_SENSOR)
position2d command setting velocity and heading
Definition: player_interfaces.h:646
float voltage
Voltage level to set.
Definition: player_interfaces.h:2069
float kd
PID parameters.
Definition: player_interfaces.h:3680
uint32_t state
0 for velocity mode, 1 for position mode
Definition: player_interfaces.h:682
Request/reply: Brakes.
Definition: player_interfaces.h:4138
player_point_3d_t position
The position of the end effector (in robot coordiantes).
Definition: player_interfaces.h:4075
int64_t total
Total memory.
Definition: player_interfaces.h:4637
uint8_t hasbrakes
If the actuator has brakes or not.
Definition: player_interfaces.h:3847
float max_range
Maximum range [m].
Definition: player_interfaces.h:923
uint16_t id
identify the light we are addressing
Definition: player_interfaces.h:2861
float length
length of the sensor [m]
Definition: player_interfaces.h:1936
uint32_t driver_name_count
Length of the driver name.
Definition: player_interfaces.h:118
Data: state (PLAYER_GPS_DATA_STATE)
Definition: player_interfaces.h:1841
player_extent2d_t extent
Boundary area.
Definition: player_interfaces.h:5172
struct player_blinkenlight_cmd_flash player_blinkenlight_cmd_flash_t
Command: flash (PLAYER_BLINKENLIGHT_CMD_FLASH) This blinkenlight command sets the duration of one on/...
uint32_t width
Image dimensions [pixels].
Definition: player_interfaces.h:2953
Request/reply: get pose.
Definition: player_interfaces.h:2130
uint32_t driver_name_count
Length of driver name.
Definition: player_interfaces.h:147
struct player_dio_cmd player_dio_cmd_t
Command: output values (PLAYER_DIO_CMD_VALUES)
struct player_limb_speed_req player_limb_speed_req_t
Request/reply: Speed.
struct player_position1d_reset_odom_config player_position1d_reset_odom_config_t
Request/reply: Reset odometry.
float resolution
Angular resolution [rad].
Definition: player_interfaces.h:890
uint32_t bpp
Image bits-per-pixel (8, 16, 24, 32).
Definition: player_interfaces.h:2957
Request: send request from robot to any or all WSN nodes or viceversa.
Definition: player_interfaces.h:5516
player_pose3d_t pose
Pose of the detector in the robot cs.
Definition: player_interfaces.h:1717
Request/reply: set charging policy.
Definition: player_interfaces.h:320
Request/reply: Get geometry.
Definition: player_interfaces.h:945
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition: player_interfaces.h:4769
int32_t brightness
Brightness: (0-255) -1=no change.
Definition: player_interfaces.h:1156
player_bumper_define_t * bumper_def
geometry of each bumper
Definition: player_interfaces.h:1953
uint32_t state
The state of the driver: will be a bitmask of PLAYER_AUDIO_STATE_* values.
Definition: player_interfaces.h:1631
float joules
energy stored [J].
Definition: player_interfaces.h:303
Structure describing a single blob.
Definition: player_interfaces.h:1068
uint32_t time_usec
GPS (UTC) time, in seconds and microseconds since the epoch.
Definition: player_interfaces.h:1846
float magn_x
The IMU&#39;s calibrated magnetic value on X-axis.
Definition: player_interfaces.h:4739
uint32_t value
driver-specific
Definition: player_interfaces.h:2560
float pz
Z [m].
Definition: player_interfaces.h:5291
struct player_position1d_velocity_mode_config player_position1d_velocity_mode_config_t
Request/reply: Change velocity control.
struct player_position3d_speed_pid_req player_position3d_speed_pid_req_t
Request/reply: Reset odometry.
uint32_t data_count
The number of cells.
Definition: player_interfaces.h:3071
position2d power config
Definition: player_interfaces.h:664
Data: scan (PLAYER_LASER_DATA_SCANANGLE)
Definition: player_interfaces.h:920
double alpha
The weight coefficient for linear combination (alpha)
Definition: player_interfaces.h:2384
3D Pointcloud element structure An element as stored in a 3D pointcloud, containing a 3D position plu...
Definition: player_interfaces.h:4861
float length
The length of this actuator&#39;s link to the next actuator.
Definition: player_interfaces.h:3827
player_segment_t * segments
Line segments.
Definition: player_interfaces.h:3095
struct player_vectormap_info player_vectormap_info_t
Vectormap info.
struct player_position2d_power_config player_position2d_power_config_t
position2d power config
int32_t joint
The joint/actuator to command - set to -1 to command all.
Definition: player_interfaces.h:3928
struct player_wsn_cmd player_wsn_cmd_t
Command: set device state (PLAYER_WSN_CMD_DEVSTATE) This wsn command sets the state of the node&#39;s ind...
float length
Distance to move.
Definition: player_interfaces.h:4120
float speed
max speed [rad/s]
Definition: player_interfaces.h:2613
struct player_stereo_data player_stereo_data_t
Data: state (PLAYER_STEREO_DATA_STATE)
player_point_3d_t orientation
The orientation vector of the end effector (a vector in a predefined direction on the end effector...
Definition: player_interfaces.h:4081
float kd
PID parameters.
Definition: player_interfaces.h:2603
int32_t altitude
Altitude, in millimeters.
Definition: player_interfaces.h:1857
uint8_t type
The type of the actuator - linear or rotary.
Definition: player_interfaces.h:3824
uint32_t buttons
Button states (bitmask)
Definition: player_interfaces.h:3353
uint32_t width
The image dimensions.
Definition: player_interfaces.h:1099
float speed
The speed of the actuator in m/s or rad/s depending on the type.
Definition: player_interfaces.h:3798
struct player_imu_data_calib player_imu_data_calib_t
Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB)
Command: Set end effector position (PLAYER_LIMB_CMD_SETPOSITION)
Definition: player_interfaces.h:4105
player_audio_seq_item_t * tones
the tones
Definition: player_interfaces.h:1504
uint32_t image_count
Size of image data as stored in image buffer (bytes)
Definition: player_interfaces.h:2968
double utm_n
UTM WGS84 coordinates, northing [m].
Definition: player_interfaces.h:1866
struct player_camera_source player_camera_source_t
Request/reply: Get/set current source.
float vel
velocity [m/s] or [rad/s]
Definition: player_interfaces.h:3573
A pose in space.
Definition: player.h:228
Data (PLAYER_COOPOBJECT_DATA_RSSI)
Definition: player_interfaces.h:5441
struct player_actarray_home_cmd player_actarray_home_cmd_t
Command: Joint home (PLAYER_ACTARRAY_CMD_HOME)
Request/reply: get vector map.
Definition: player_interfaces.h:3082
float home
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3843
uint8_t have_config
If non-zero, the configuration data has been filled.
Definition: player_interfaces.h:5045
struct player_audio_state player_audio_state_t
Player audio driver state.
player_audio_wav_t sample
the audio sample data
Definition: player_interfaces.h:1592
Request/reply: Get geometry.
Definition: player_interfaces.h:1714
uint32_t bitrate
current bitrate of device
Definition: player_interfaces.h:2256
Data (PLAYER_COOPOBJECT_DATA_USERDEFINED)
Definition: player_interfaces.h:5501
struct player_actarray_speed_cmd player_actarray_speed_cmd_t
Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED)
uint8_t red
Red color channel.
Definition: player_interfaces.h:5293
uint8_t state
Turn power off TRUE or FALSE.
Definition: player_interfaces.h:800
uint8_t cmd
A single byte of as-yet-unspecified command.
Definition: player_interfaces.h:2701
float * ranges
The range readings [m].
Definition: player_interfaces.h:776
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:2518
uint32_t y
The blob centroid [pixels].
Definition: player_interfaces.h:1080
double range_res
Range resolution [m].
Definition: player_interfaces.h:4997
player_point_3d_t direction
Direction vector to move in.
Definition: player_interfaces.h:4118
float max
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3841
float ki
PID parameters.
Definition: player_interfaces.h:2601
uint32_t length
Length of sample to record in ms.
Definition: player_interfaces.h:1619
Request/reply: Get particles.
Definition: player_interfaces.h:2392
struct player_power_chargepolicy_config player_power_chargepolicy_config_t
Request/reply: set charging policy.
uint16_t sender_id
The node RSSI measurements.
Definition: player_interfaces.h:5445
position2d data
Definition: player_interfaces.h:606
uint32_t layers_count
The number of layers.
Definition: player_interfaces.h:5194
struct player_position3d_set_odom_req player_position3d_set_odom_req_t
Request/reply: Set odometry.
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5179
uint8_t valid
Did the planner find a valid path?
Definition: player_interfaces.h:3150
uint32_t parameters_count
Size of the request message parameters (in bytes)
Definition: player_interfaces.h:5524
double frequency
Scanning frequency [Hz].
Definition: player_interfaces.h:4999
Request/reply: Turn intensity data on/off for devices that provide it (PLAYER_RANGER_REQ_INTNS) ...
Definition: player_interfaces.h:5094
struct player_aio_data player_aio_data_t
Data: state (PLAYER_AIO_DATA_STATE)
uint8_t stored
Number of currently stored objects.
Definition: player_interfaces.h:425
Data: scan (PLAYER_LASER_DATA_SCAN)
Definition: player_interfaces.h:883
Request/reply: Set the robot pose estimate.
Definition: player_interfaces.h:2367
int32_t joint
Joint to set acceleration for.
Definition: player_interfaces.h:3989
float period
flash period (duration of one whole on-off cycle) [s].
Definition: player_interfaces.h:2831
float * angles
Angle readings [m].
Definition: player_interfaces.h:931
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:3590
Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG)
Definition: player_interfaces.h:4983
float gyro_x
The IMU&#39;s calibrated gyro value on X-axis.
Definition: player_interfaces.h:4733
player_pose3d_t pose
Fiducial pose relative to the detector.
Definition: player_interfaces.h:1691
uint32_t height
The image dimensions.
Definition: player_interfaces.h:1101
uint32_t intensities_count
Number of intensity readings.
Definition: player_interfaces.h:5056
uint32_t string_count
Length of string.
Definition: player_interfaces.h:1800
A point in 3D space.
Definition: player.h:194
player_color_t color
Color in which the line should be drawn.
Definition: player_interfaces.h:4237
uint32_t value
0 for velocity mode, 1 for position mode
Definition: player_interfaces.h:2547
uint8_t enable
The state: 0=disabled, 1=enabled.
Definition: player_interfaces.h:4437
struct player_imu_reset_orientation_config player_imu_reset_orientation_config_t
Request/reply: Reset orientation.
uint32_t width
The size of the tile [pixels].
Definition: player_interfaces.h:3067
Data: state (PLAYER_POSITION1D_DATA_STATE)
Definition: player_interfaces.h:3542
Info on a single detected fiducial.
Definition: player_interfaces.h:1685
uint8_t value
Power setting; 0 for off, 1 for on.
Definition: player_interfaces.h:4131
uint32_t value_count
The length of the value data in bytes.
Definition: player_interfaces.h:2771
uint32_t area
The blob area [pixels].
Definition: player_interfaces.h:1076
uint32_t top
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1086
Request/reply: set power.
Definition: player_interfaces.h:2142
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:894
double pending_time
The time stamp of the last observation processed.
Definition: player_interfaces.h:2356
Vectormap feature data.
Definition: player_interfaces.h:5148
uint8_t type
Type of the user defined message.
Definition: player_interfaces.h:5505
double x
angle to rotate in radians
Definition: player_interfaces.h:4585
Player audio driver state.
Definition: player_interfaces.h:1628
int32_t group_id
The Group ID of the WSN node.
Definition: player_interfaces.h:4433
Request/reply: Query geometry.
Definition: player_interfaces.h:2515
uint8_t filled
If non-zero, the polygon should be drawn filled, else empty.
Definition: player_interfaces.h:4254
struct player_coopobject_req player_coopobject_req_t
Request: send request from robot to any or all WSN nodes or viceversa.
uint8_t mode
The requested mode.
Definition: player_interfaces.h:162
struct player_graphics2d_cmd_polygon player_graphics2d_cmd_polygon_t
Command: Draw polygon (PLAYER_GRAPHICS2D_CMD_POLYGON) Draw a polygon.
uint32_t valid
Status bits.
Definition: player_interfaces.h:296
Request/reply: Set speed profile parameters.
Definition: player_interfaces.h:2610
int32_t contrast
Contrast: (0-255) -1=no change.
Definition: player_interfaces.h:1158
uint8_t state
The gripper&#39;s state.
Definition: player_interfaces.h:421
uint32_t blobs_count
The number of blobs.
Definition: player_interfaces.h:1103
double angle
relative turning angle (rad)
Definition: player_interfaces.h:642
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4783
Request/reply: get/set 2D pose of a named simulation object.
Definition: player_interfaces.h:2710
struct player_laser_data_scanangle player_laser_data_scanangle_t
Data: scan (PLAYER_LASER_DATA_SCANANGLE)
Request/reply: Get the list of available devices.
Definition: player_interfaces.h:99
double max_range
Maximum range [m].
Definition: player_interfaces.h:4995
uint8_t value
Data type setting: 1 for pose/orientation, 2 for calibrated (raw) data, 3 for quaternions, 4 for Euler.
Definition: player_interfaces.h:4804
Data: Raw audio data.
Definition: player_interfaces.h:1463
struct player_actarray_power_config player_actarray_power_config_t
Request/reply: Power.
int32_t node_id
The ID of the WSN node.
Definition: player_interfaces.h:4447
Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS)
Definition: player_interfaces.h:3883
char * text
Recognized text.
Definition: player_interfaces.h:3400
float accel_y
The IMU&#39;s calibrated acceleration value on Y-axis.
Definition: player_interfaces.h:4729
struct player_opaque_data player_opaque_data_t
data
int32_t id
The fiducial id.
Definition: player_interfaces.h:1689
int16_t value
Value of the sensor/alarm.
Definition: player_interfaces.h:5478
Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT)
Definition: player_interfaces.h:3936
uint32_t bottom
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1088
float gyro_z
The IMU&#39;s calibrated gyro value on Z-axis.
Definition: player_interfaces.h:4737
struct player_simulation_data player_simulation_data_t
Data.
struct player_imu_data_fullstate player_imu_data_fullstate_t
Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE)
float min_range
The minimum range of the sensor [m].
Definition: player_interfaces.h:1733
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
struct player_map_data_vector player_map_data_vector_t
Request/reply: get vector map.
uint32_t norm_count
Norm (one of "NTSC", "PAL", "SECAM", "UNKNOWN").
Definition: player_interfaces.h:2982
struct player_ranger_power_config player_ranger_power_config_t
Request/reply: Turn power on/off (PLAYER_RANGER_REQ_POWER)
uint32_t quality
Quality of fix 0 = invalid, 1 = GPS fix, 2 = DGPS fix.
Definition: player_interfaces.h:1868
uint32_t points_count
Number of points in this packet.
Definition: player_interfaces.h:4263
double speed
Speed over ground, in meters/second .
Definition: player_interfaces.h:1859
double y
x component of the vector around which we rotate
Definition: player_interfaces.h:4586
struct player_bumper_data player_bumper_data_t
Data: state (PLAYER_BUMPER_DATA_GEOM)
uint8_t have_config
If non-zero, the configuration data has been filled.
Definition: player_interfaces.h:5074
uint32_t intensity_count
Number of intensity readings.
Definition: player_interfaces.h:898
player_pose3d_t * poses
Pose of each sonar, in robot cs.
Definition: player_interfaces.h:790
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition: player_interfaces.h:4753
struct player_laser_data player_laser_data_t
Data: scan (PLAYER_LASER_DATA_SCAN)
Request/reply: Change velocity control.
Definition: player_interfaces.h:3630
uint8_t access
The requested / granted access.
Definition: player_interfaces.h:145
char * name
the identifier of the object we want to locate
Definition: player_interfaces.h:2731
uint8_t value
Data type setting: 0 for RAW values, 1 for converted units.
Definition: player_interfaces.h:4462
uint8_t have_geom
If non-zero, the geometry data has been filled.
Definition: player_interfaces.h:5041
struct player_actarray_multi_position_cmd player_actarray_multi_position_cmd_t
Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS)
Command: say a string (PLAYER_SPEECH_CMD_SAY)
Definition: player_interfaces.h:1797
struct player_position1d_geom player_position1d_geom_t
Request/reply: Query geometry.
uint8_t type
The type of log device, either PLAYER_LOG_TYPE_READ or PLAYER_LOG_TYPE_WRITE.
Definition: player_interfaces.h:3290
Command: position (PLAYER_POSITION3D_CMD_SET_POS)
Definition: player_interfaces.h:2490
uint32_t vdop
Vertical dilution of position (VDOP), times 10.
Definition: player_interfaces.h:1874
player_pose2d_t pos
Current location (m,m,rad)
Definition: player_interfaces.h:3154
Request/reply: Reset odometry.
Definition: player_interfaces.h:3640
int32_t charging
charge exchange status: if 1, the device is currently receiving charge from another energy device...
Definition: player_interfaces.h:311
player_ranger_data_range_t data
The scan data.
Definition: player_interfaces.h:5039
struct player_audio_sample_item player_audio_sample_item_t
Player audio sample selection.
struct player_coopobject_header player_coopobject_header_t
Data (PLAYER_COOPOBJECT_DATA_HEALTH)
float kd
PID parameters.
Definition: player_interfaces.h:700
uint32_t speeds_count
The number of actuators in the array.
Definition: player_interfaces.h:3908
struct player_localize_get_particles player_localize_get_particles_t
Request/reply: Get particles.
uint32_t right
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1084
Player mixer channel detail.
Definition: player_interfaces.h:1552
Data: state (PLAYER_JOYSTICK_DATA_STATE)
Definition: player_interfaces.h:3346
struct player_rfid_data player_rfid_data_t
Data.
float watts
estimated current energy consumption (negative values) or aquisition (positive values) [W]...
Definition: player_interfaces.h:306
struct player_actarray_data player_actarray_data_t
Data: state (PLAYER_ACTARRAY_DATA_STATE)
float tiltspeed
Current tilt velocity [rad/s].
Definition: player_interfaces.h:1239
uint32_t status
Current pan / tilt status.
Definition: player_interfaces.h:1241
float freq
Frequency of the note [Hz].
Definition: player_interfaces.h:1484
float vel
velocity at which to move to the position [m/s] or [rad/s]
Definition: player_interfaces.h:3588
uint32_t guid_count
GUID count.
Definition: player_interfaces.h:4321
uint32_t name_count
name length
Definition: player_interfaces.h:1555
uint32_t data_count
Size of the undefined message (in bytes)
Definition: player_interfaces.h:5507
int32_t joint
The joint/actuator to command - set to -1 to command all.
Definition: player_interfaces.h:3919
struct player_limb_geom_req player_limb_geom_req_t
Request/reply: get geometry.
player_orientation_3d_t orientation
Orientation data as Euler angles.
Definition: player_interfaces.h:4772
double z
y component of the vector around which we rotate
Definition: player_interfaces.h:4587
Request/reply: change the data type to one of the predefined data structures.
Definition: player_interfaces.h:4799
Player audio sample.
Definition: player_interfaces.h:1589
Player mixer channels.
Definition: player_interfaces.h:1569
uint32_t element_sizes_count
Number of individual elements that make up the device.
Definition: player_interfaces.h:5016
Request/reply: Change data delivery frequency.
Definition: player_interfaces.h:4470
struct player_wifi_data player_wifi_data_t
Data: state (PLAYER_WIFI_DATA_STATE)
Data: state (PLAYER_ACTARRAY_DATA_STATE)
Definition: player_interfaces.h:3810
uint16_t id
identify the light we are addressing
Definition: player_interfaces.h:2883
uint8_t state
The state of the limb.
Definition: player_interfaces.h:4083
struct player_position2d_cmd_pos player_position2d_cmd_pos_t
position2d position command
uint32_t intensity_count
Number of intensity readings.
Definition: player_interfaces.h:933
Data (PLAYER_COOPOBJECT_DATA_HEALTH)
Definition: player_interfaces.h:5428
struct player_wsn_datafreq_config player_wsn_datafreq_config_t
Request/reply: Change data delivery frequency.
Data: input values (PLAYER_DIO_DATA_VALUES)
Definition: player_interfaces.h:1994
float min
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3837
uint32_t format
Raw data format.
Definition: player_interfaces.h:1470
float maxy
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3091
player_audio_mixer_channel_detail_t * details
the tones
Definition: player_interfaces.h:1574
uint8_t enable_output
boolean controlling whether others can recharge from this device.
Definition: player_interfaces.h:327
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4717
Request/reply: Set linear speed profile parameters.
Definition: player_interfaces.h:3703
player_pose3d_t pos
(x, y, z, roll, pitch, yaw) position [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2493
A line segment, used to construct vector-based maps.
Definition: player.h:291
float miny
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3089
float config_speed
The configured speed setting of the actuator - different from current speed.
Definition: player_interfaces.h:3845
player_orientation_3d_t orientation
The orientation of this actuator when it is in its rest position.
Definition: player_interfaces.h:3832
Request/reply: Query geometry.
Definition: player_interfaces.h:1273
struct player_actarray_accel_config player_actarray_accel_config_t
Request/reply: Acceleration.
struct player_ptz_req_control_mode player_ptz_req_control_mode_t
Request/reply: Control mode.
uint8_t enable
FALSE: off, TRUE: on.
Definition: player_interfaces.h:2863
struct player_limb_setposition_cmd player_limb_setposition_cmd_t
Command: Set end effector position (PLAYER_LIMB_CMD_SETPOSITION)
struct player_actarray_brakes_config player_actarray_brakes_config_t
Request/reply: Brakes.
The geometry of a single bumper.
Definition: player_interfaces.h:1931
player_color_t color
the color of the light
Definition: player_interfaces.h:2852
float zoom
Desired field of view [rad].
Definition: player_interfaces.h:1255
uint8_t request
Type of the request.
Definition: player_interfaces.h:5522
struct player_position2d_cmd_vel player_position2d_cmd_vel_t
position 2d velocity command
uint32_t compression
Image compression; PLAYER_CAMERA_COMPRESS_RAW indicates no compression.
Definition: player_interfaces.h:2966
double angular_res
Scan resolution [rad].
Definition: player_interfaces.h:4990
Data: state (PLAYER_AIO_DATA_STATE)
Definition: player_interfaces.h:2053
float centre
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3839
uint32_t devices_count
The number of devices.
Definition: player_interfaces.h:102
struct player_ptz_req_status player_ptz_req_status_t
Request/reply: Query pan/tilt status.
struct player_limb_data player_limb_data_t
Data: state (PLAYER_LIMB_DATA_STATE)
Request/reply: Get waypoints.
Definition: player_interfaces.h:3181
float magn_y
The node&#39;s magnetic measurement on Y-axis from a magnetometer.
Definition: player_interfaces.h:4401
player_bbox3d_t size
Dimensions of the base (m, m, m).
Definition: player_interfaces.h:3602
float pos
position [m] or [rad] depending on actuator type
Definition: player_interfaces.h:3545
float speed
max speed [m/s] or [rad/s]
Definition: player_interfaces.h:3706
float magn_x
The node&#39;s magnetic measurement on X-axis from a magnetometer.
Definition: player_interfaces.h:4399
Configuration request: Add client queue replace rule.
Definition: player_interfaces.h:232
uint32_t draw_mode
The drawing mode defining how teh verticies should be interpreted.
Definition: player_interfaces.h:4559
Data: state (PLAYER_PTZ_DATA_STATE)
Definition: player_interfaces.h:1228
struct player_device_datamode_req player_device_datamode_req_t
Configuration request: Change data delivery mode.
Player mixer channel.
Definition: player_interfaces.h:1513
double err_horz
Horizonal error [m].
Definition: player_interfaces.h:1876
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5168
Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS)
Definition: player_interfaces.h:2351
float resolution
Scan resolution [rad].
Definition: player_interfaces.h:968
struct player_simulation_cmd player_simulation_cmd_t
Command.
uint8_t * data
raw data
Definition: player_interfaces.h:1468
char * name
the identifier of the object we want to locate
Definition: player_interfaces.h:2715
struct player_device_devlist player_device_devlist_t
Request/reply: Get the list of available devices.
Player mixer channels.
Definition: player_interfaces.h:1530
struct player_coopobject_cmd player_coopobject_cmd_t
Command: send command from robot to any or all WSN nodes or viceversa.
float magn_z
The node&#39;s magnetic measurement on Z-axis from a magnetometer.
Definition: player_interfaces.h:4403
enum player_graphics3d_draw_mode player_graphics3d_draw_mode_t
Drawmode: enumeration that defines the drawing mode.
uint8_t enable_input
boolean controlling recharging.
Definition: player_interfaces.h:324
player_ranger_geom_t geom
The geometry of the device at the time the scan was acquired.
Definition: player_interfaces.h:5072
float kp
PID parameters.
Definition: player_interfaces.h:2585
Definition: player_interfaces.h:5284
struct player_graphics2d_cmd_polyline player_graphics2d_cmd_polyline_t
Command: Draw polyline (PLAYER_GRAPHICS2D_CMD_POLYLINE) Draw a series of straight line segments betwe...
struct player_position2d_cmd_vel_head player_position2d_cmd_vel_head_t
position2d command setting velocity and heading
struct player_ir_data player_ir_data_t
Data: ranges (PLAYER_IR_DATA_RANGES)
#define PLAYER_KEYLEN
Length of authentication key.
Definition: player.h:82
uint8_t state
Logging/playback state: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3292
Data (PLAYER_WSN_DATA_STATE)
Definition: player_interfaces.h:4413
struct player_position2d_set_odom_req player_position2d_set_odom_req_t
set odometry
char * guid
The Globally Unique IDentifier (GUID) of the tag.
Definition: player_interfaces.h:4323
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:2497
player_bbox3d_t outer_size
Outside dimensions of gripper (m, m, m).
Definition: player_interfaces.h:438
int32_t index
Index to store at (-1 for next available).
Definition: player_interfaces.h:1617
struct player_planner_data player_planner_data_t
Data: state (PLAYER_PLANNER_DATA_STATE)
Request/reply: Acceleration.
Definition: player_interfaces.h:3986
Hypothesis format.
Definition: player_interfaces.h:2335
float view_angle
The receptive angle of the sensor [rad].
Definition: player_interfaces.h:1737
Request/reply: Get the driver name for a particular device.
Definition: player_interfaces.h:113
speed prof req
Definition: player_interfaces.h:715
Request/reply: Speed.
Definition: player_interfaces.h:3973
struct player_health_memory player_health_memory_t
Structure describing the memory.
Data: ranges (PLAYER_SONAR_DATA_RANGES)
Definition: player_interfaces.h:771
int32_t latitude
Latitude in degrees / 1e7 (units are scaled such that the effective resolution is roughly 1cm)...
Definition: player_interfaces.h:1850
uint32_t index
Index for properties with multiples values (arrays...)
Definition: player_interfaces.h:2769
uint32_t id
Which I/O output to command.
Definition: player_interfaces.h:2067
int32_t subtype
message subtype to set replace rule for (-1 for wildcard)
Definition: player_interfaces.h:241
Request/reply: Reset orientation.
Definition: player_interfaces.h:4811
Data: state (PLAYER_PLANNER_DATA_STATE)
Definition: player_interfaces.h:3147
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:3619
uint32_t attrib_count
Length of data in bytes.
Definition: player_interfaces.h:5160
Configuration request: Authentication.
Definition: player_interfaces.h:198
Data (PLAYER_COOPOBJECT_DATA_SENSOR)
Definition: player_interfaces.h:5485
struct player_blinkenlight_cmd_color player_blinkenlight_cmd_color_t
Command: color (PLAYER_BLINKENLIGHT_CMD_COLOR) This blinkenlight command sets the color of the light...