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TruthProxy Class Reference [Proxies] #include <playerclient.h> Inherits ClientProxy. List of all members. Detailed Description The TruthProxy gets and sets the true pose of a truth device [worldfile tag: truth()]. This may be different from the pose returned by a device such as GPS or Position. If you want to log what happened in an experiment, this is the device to use. Setting the position of a truth device moves its parent, so you can put a truth device on robot and teleport it around the place. Public Member Functions   TruthProxy (PlayerClient *pc, unsigned short index, unsigned char access= 'c') void  FillData (player_msghdr_t hdr, const char *buffer) void  Print ()   Print out current pose info in a format suitable for data logging. int  GetPose (double *px, double *py, double *pz, double *rx, double *ry, double *rz) int  SetPose (double px, double py, double pz, double rx, double ry, double rz) int  SetPoseOnRoot (double px, double py, double pz, double rx, double ry, double rz) int  GetFiducialID (int16_t *id) int  SetFiducialID (int16_t id) Public Attributes double  px double  py double  pz double  rx double  ry double  rz Constructor & Destructor Documentation TruthProxy::TruthProxy (  PlayerClient *  pc, unsigned short  index, unsigned char  access = 'c' )  [inline]   Constructor. Leave the access field empty to start unconnected. Member Function Documentation void TruthProxy::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 TruthProxy::Print (   )  [virtual]   Print out current pose info in a format suitable for data logging. Reimplemented from ClientProxy. int TruthProxy::GetPose (  double *  px, double *  py, double *  pz, double *  rx, double *  ry, double *  rz )    Query Player about the current pose - requests the pose from the server, then fills in values for the arguments. Usually you'll just read the class attributes but this function allows you to get pose direct from the server if you need too. Returns 0 on success, -1 if there is a problem. int TruthProxy::SetPose (  double  px, double  py, double  pz, double  rx, double  ry, double  rz )    Request a change in pose. Returns 0 on success, -1 if there is a problem. int TruthProxy::SetPoseOnRoot (  double  px, double  py, double  pz, double  rx, double  ry, double  rz )    ??? int TruthProxy::GetFiducialID (  int16_t *  id  )    Request the value returned by a fiducialfinder (and possibly a foofinser, depending on its mode), when detecting this object. int TruthProxy::SetFiducialID (  int16_t  id  )    Set the value returned by a fiducialfinder (and possibly a foofinser, depending on its mode), when detecting this object. Member Data Documentation double TruthProxy::px   These vars store the current device position (x,y,z) in m and orientation (roll, pitch, yaw) in radians. The values are updated at regular intervals as data arrives. You can read these values directly but setting them does NOT change the device's pose!. Use TruthProxy::SetPose() for that. double TruthProxy::py   These vars store the current device position (x,y,z) in m and orientation (roll, pitch, yaw) in radians. The values are updated at regular intervals as data arrives. You can read these values directly but setting them does NOT change the device's pose!. Use TruthProxy::SetPose() for that. double TruthProxy::pz   These vars store the current device position (x,y,z) in m and orientation (roll, pitch, yaw) in radians. The values are updated at regular intervals as data arrives. You can read these values directly but setting them does NOT change the device's pose!. Use TruthProxy::SetPose() for that. double TruthProxy::rx   These vars store the current device position (x,y,z) in m and orientation (roll, pitch, yaw) in radians. The values are updated at regular intervals as data arrives. You can read these values directly but setting them does NOT change the device's pose!. Use TruthProxy::SetPose() for that. double TruthProxy::ry   These vars store the current device position (x,y,z) in m and orientation (roll, pitch, yaw) in radians. The values are updated at regular intervals as data arrives. You can read these values directly but setting them does NOT change the device's pose!. Use TruthProxy::SetPose() for that. double TruthProxy::rz   These vars store the current device position (x,y,z) in m and orientation (roll, pitch, yaw) in radians. The values are updated at regular intervals as data arrives. You can read these values directly but setting them does NOT change the device's pose!. Use TruthProxy::SetPose() for that. The documentation for this class was generated from the following file: playerclient.h