playerc_ranger_t Struct Reference

Ranger proxy data. More...

#include <playerc.h>

Collaboration diagram for playerc_ranger_t:

Detailed Description

Ranger proxy data.

Public Attributes
playerc_device_t	info
	Device info; must be at the start of all device structures. More...
uint32_t	element_count
	Number of individual elements in the device. More...
double	min_angle
	Start angle of scans [rad]. More...
double	max_angle
	End angle of scans [rad]. More...
double	angular_res
	Scan resolution [rad]. More...
double	min_range
	Minimum range [m]. More...
double	max_range
	Maximum range [m]. More...
double	range_res
	Range resolution [m]. More...
double	frequency
	Scanning frequency [Hz]. More...
player_pose3d_t	device_pose
	Device geometry in the robot CS: pose gives the position and orientation, size gives the extent. More...
player_bbox3d_t	device_size
player_pose3d_t *	element_poses
	Geometry of each individual element in the device (e.g. More...
player_bbox3d_t *	element_sizes
uint32_t	ranges_count
	Number of ranges in a scan. More...
double *	ranges
	Range data [m]. More...
uint32_t	intensities_count
	Number of intensities in a scan. More...
double *	intensities
	Intensity data [m]. More...
uint32_t	bearings_count
	Number of scan bearings. More...
double *	bearings
	Scan bearings in the XY plane [radians]. More...
uint32_t	points_count
	Number of scan points. More...
player_point_3d_t *	points
	Scan points (x, y, z). More...

Member Data Documentation

angular_res

double playerc_ranger_t::angular_res

Scan resolution [rad].

May be unfilled.

Referenced by PlayerCc::RangerProxy::GetAngularRes().

bearings

double* playerc_ranger_t::bearings

Scan bearings in the XY plane [radians].

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

bearings_count

uint32_t playerc_ranger_t::bearings_count

Number of scan bearings.

device_pose

player_pose3d_t playerc_ranger_t::device_pose

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

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

Referenced by PlayerCc::RangerProxy::GetDevicePose().

element_count

uint32_t playerc_ranger_t::element_count

Number of individual elements in the device.

Referenced by PlayerCc::RangerProxy::GetElementCount().

element_poses

player_pose3d_t* playerc_ranger_t::element_poses

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

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

frequency

double playerc_ranger_t::frequency

Scanning frequency [Hz].

May be unfilled.

Referenced by PlayerCc::RangerProxy::GetFrequency().

info

playerc_device_t playerc_ranger_t::info

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

intensities

double* playerc_ranger_t::intensities

Intensity data [m].

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

intensities_count

uint32_t playerc_ranger_t::intensities_count

Number of intensities in a scan.

Referenced by PlayerCc::RangerProxy::GetIntensityCount().

max_angle

double playerc_ranger_t::max_angle

End angle of scans [rad].

May be unfilled.

Referenced by PlayerCc::RangerProxy::GetMaxAngle().

max_range

double playerc_ranger_t::max_range

Maximum range [m].

May be unfilled.

Referenced by PlayerCc::RangerProxy::GetMaxRange().

min_angle

double playerc_ranger_t::min_angle

Start angle of scans [rad].

May be unfilled.

Referenced by PlayerCc::RangerProxy::GetMinAngle().

min_range

double playerc_ranger_t::min_range

Minimum range [m].

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

Referenced by PlayerCc::RangerProxy::GetMinRange().

points

player_point_3d_t* playerc_ranger_t::points

Scan points (x, y, z).

points_count

uint32_t playerc_ranger_t::points_count

Number of scan points.

Referenced by PlayerCc::RangerProxy::GetPointCount().

range_res

double playerc_ranger_t::range_res

Range resolution [m].

May be unfilled.

Referenced by PlayerCc::RangerProxy::GetRangeRes().

ranges

double* playerc_ranger_t::ranges

Range data [m].

ranges_count

uint32_t playerc_ranger_t::ranges_count

Number of ranges in a scan.

Referenced by PlayerCc::RangerProxy::GetRangeCount().

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

• playerc.h