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FiducialProxy Class Reference [Proxies] #include <playerclient.h> Inherits ClientProxy. List of all members. Detailed Description The FiducialProxy class is used to control fiducial devices. The latest set of detected beacons is stored in the beacons array. Public Member Functions   FiducialProxy (PlayerClient *pc, unsigned short index, unsigned char access='c') void  FillData (player_msghdr_t hdr, const char *buffer) void  Print ()   Print out latest beacon data. int  PrintFOV ()   Print the latest FOV configuration. int  PrintGeometry ()   Print the latest geometry configuration. int  GetConfigure ()   Get the sensor's geometry configuration. int  GetFOV ()   Get the field of view. int  SetId (int id) int  GetId (void) int  SetFOV (double min_range, double max_range, double view_angle) int  SendMessage (player_fiducial_msg_t *msg, bool consume) int  RecvMessage (player_fiducial_msg_t *msg, bool consume) Public Attributes unsigned short  count double  pose [3] double  size [2] double  fiducial_size [2] double  min_range double  max_range double  view_angle FiducialItem  beacons [PLAYER_FIDUCIAL_MAX_SAMPLES] Constructor & Destructor Documentation FiducialProxy::FiducialProxy (  PlayerClient *  pc, unsigned short  index, unsigned char  access = 'c' )  [inline]   Constructor. Leave the access field empty to start unconnected. Member Function Documentation void FiducialProxy::FillData (  player_msghdr_t  hdr, const char *  buffer )  [virtual]   All proxies must provide this method. It is used internally to parse new data when it is received. Reimplemented from ClientProxy. void FiducialProxy::Print (   )  [virtual]   Print out latest beacon data. Reimplemented from ClientProxy. int FiducialProxy::PrintFOV (   )    Print the latest FOV configuration. int FiducialProxy::PrintGeometry (   )    Print the latest geometry configuration. int FiducialProxy::GetConfigure (   )    Get the sensor's geometry configuration. int FiducialProxy::GetFOV (   )    Get the field of view. int FiducialProxy::SetId (  int  id  )    Set the fiducial identification value displayed by this device (if supported) returns the value actually used by the device, which may differ from the one requested, or -1 on error. Also stores the returned id in the proxy's data member 'id'. int FiducialProxy::GetId (  void   )    Get the fiducial identification value displayed by this device (if supported). returns the ID or -1 on error. Also stores the returned id in the proxy's data member 'id'. int FiducialProxy::SetFOV (  double  min_range, double  max_range, double  view_angle )    Set the field of view, updating the proxy with the actual values achieved. Params are: minimum range in meters, maximum range in meters, view angle in radians int FiducialProxy::SendMessage (  player_fiducial_msg_t *  msg, bool  consume )    Attempt to send a message to a fiducial. See the Player manual for details of the message packet. Use a target_id of -1 to broadcast. If consume is true, the message is sent only once. If false, the message may be sent multiple times, but this is device dependent. Note: these message functions use configs that are probably only supported by Stage-1.4 (or later) fiducial driver. int FiducialProxy::RecvMessage (  player_fiducial_msg_t *  msg, bool  consume )    Read a message received by the device. If a message is available, the recv_msg packet is filled in and 0 is returned. no message can be retrieved from the device, returns -1. If consume is true, the message is deleted from the device on reading. If false, the message is kept and can be read again. Note: these message functions use configs that are probably only supported by Stage-1.4 (or later) fiducial driver. Member Data Documentation unsigned short FiducialProxy::count   The number of beacons detected double FiducialProxy::pose[3]   The pose of the sensor [x,y,theta] in [m,m,rad] double FiducialProxy::size[2]   The size of the sensor [x,y] in [m,m] double FiducialProxy::fiducial_size[2]   The size of the most recently detected fiducial double FiducialProxy::min_range   the minimum range of the sensor in meters (partially defines the FOV) double FiducialProxy::max_range   the maximum range of the sensor in meters (partially defines the FOV) double FiducialProxy::view_angle   the receptive angle of the sensor in degrees (partially defines the FOV) FiducialItem FiducialProxy::beacons[PLAYER_FIDUCIAL_MAX_SAMPLES]   The latest laser beacon data. The documentation for this class was generated from the following file: playerclient.h