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fiducial [Interfaces] Detailed Description The fiducial interface provides access to devices that detect coded fiducials (markers) placed in the environment. It can also be used for devices the detect natural landmarks. Classes struct   player_fiducial_item   Info on a single detected fiducial. More... struct   player_fiducial_data   Data. More... struct   player_fiducial_geom   Configuration request: Get geometry. More... struct   player_fiducial_fov   Configuration request: Get/set sensor field of view. More... struct   player_fiducial_id   Configuration request: Get/set fiducial value. More... struct   player_fiducial_msg   Configuration request: Fiducial messaging. More... struct   player_fiducial_msg_rx_req   Configuration request: Fiducial receive message request. More... struct   player_fiducial_msg_tx_req   Configuration request: Fiducial send message request. More... struct   player_fiducial_msg_txrx_req   Configuration request: Fiducial exchange message request. More... Defines #define  PLAYER_FIDUCIAL_MAX_SAMPLES   32 #define  PLAYER_FIDUCIAL_MAX_MSG_LEN   32 #define  PLAYER_FIDUCIAL_GET_GEOM   0x01 #define  PLAYER_FIDUCIAL_GET_FOV   0x02 #define  PLAYER_FIDUCIAL_SET_FOV   0x03 #define  PLAYER_FIDUCIAL_SEND_MSG   0x04 #define  PLAYER_FIDUCIAL_RECV_MSG   0x05 #define  PLAYER_FIDUCIAL_EXCHANGE_MSG   0x06 #define  PLAYER_FIDUCIAL_GET_ID   0x07 #define  PLAYER_FIDUCIAL_SET_ID   0x08 Typedefs typedef player_fiducial_item  player_fiducial_item_t   Info on a single detected fiducial. typedef player_fiducial_data  player_fiducial_data_t   Data. typedef player_fiducial_geom  player_fiducial_geom_t   Configuration request: Get geometry. typedef player_fiducial_fov  player_fiducial_fov_t   Configuration request: Get/set sensor field of view. typedef player_fiducial_id  player_fiducial_id_t   Configuration request: Get/set fiducial value. typedef player_fiducial_msg  player_fiducial_msg_t   Configuration request: Fiducial messaging. typedef player_fiducial_msg_rx_req  player_fiducial_msg_rx_req_t   Configuration request: Fiducial receive message request. typedef player_fiducial_msg_tx_req  player_fiducial_msg_tx_req_t   Configuration request: Fiducial send message request. typedef player_fiducial_msg_txrx_req  player_fiducial_msg_txrx_req_t   Configuration request: Fiducial exchange message request. Define Documentation #define PLAYER_FIDUCIAL_MAX_SAMPLES   32   The maximum number of fiducials that can be detected at one time. #define PLAYER_FIDUCIAL_MAX_MSG_LEN   32   The maximum size of a data packet exchanged with a fiducial at one time. #define PLAYER_FIDUCIAL_GET_GEOM   0x01 #define PLAYER_FIDUCIAL_GET_FOV   0x02 #define PLAYER_FIDUCIAL_SET_FOV   0x03 #define PLAYER_FIDUCIAL_SEND_MSG   0x04 #define PLAYER_FIDUCIAL_RECV_MSG   0x05 #define PLAYER_FIDUCIAL_EXCHANGE_MSG   0x06 #define PLAYER_FIDUCIAL_GET_ID   0x07 #define PLAYER_FIDUCIAL_SET_ID   0x08 Typedef Documentation typedef struct player_fiducial_item player_fiducial_item_t   Info on a single detected fiducial. The fiducial data packet contains a list of these. typedef struct player_fiducial_data player_fiducial_data_t   Data. The fiducial data packet (all fiducials). typedef struct player_fiducial_geom player_fiducial_geom_t   Configuration request: Get geometry. The geometry (pose and size) of the fiducial device can be queried using the PLAYER_FIDUCIAL_GET_GEOM request. The request and reply packets have the same format. typedef struct player_fiducial_fov player_fiducial_fov_t   Configuration request: Get/set sensor field of view. The field of view of the fiducial device can be set using the PLAYER_FIDUCIAL_SET_FOV request, and queried using the PLAYER_FIDUCIAL_GET_FOV request. The device replies to a SET request with the actual FOV achieved. In both cases the request and reply packets have the same format. typedef struct player_fiducial_id player_fiducial_id_t   Configuration request: Get/set fiducial value. Some fiducial finder devices display their own fiducial. They can use the PLAYER_FIDUCIAL_GET_ID config to report the identifier displayed by the fiducial. Make the request using the player_fiducial_id_t structure. The device replies with the same structure with the id field set. Some devices can dynamically change the identifier they display. They can use the PLAYER_FIDUCIAL_SET_ID config to allow a client to set the currently displayed value. Make the request with the player_fiducial_id_t structure. The device replies with the same structure with the id field set to the value it actually used. You should check this value, as the device may not be able to display the value you requested. Currently supported by the stg_fiducial driver. typedef struct player_fiducial_msg player_fiducial_msg_t   Configuration request: Fiducial messaging. META-NOTE: FIDUCIAL MESSAGING IS NOT WORKING IN STAGE CVS HEAD OR STAGE-1.5 NOTE: These configs are currently supported only by the Stage fiducial driver (stg_fidicial), but are intended to be a general interface for addressable, peer-to-peer messaging. The fiducial sensor can attempt to send a message to a target using the PLAYER_FIDUCIAL_SEND_MSG request. If target_id is -1, the message is broadcast to all targets. The device replies with an ACK if the message was sent OK, but receipt by the target is not guaranteed. The intensity field sets a transmit power in device-dependent units. If the consume flag is set, the message is transmitted just once. If it is unset, the message may transmitted repeatedly (at device-dependent intervals, if at all). Send a PLAYER_FIDUCIAL_RECV_MSG request to obtain the last message recieved from the indicated target. If the consume flag is set, the message is deleted from the device's buffer, if unset, the same message can be retreived multiple times until a new message arrives. The power field indicates the intensity of the recieved messag, again in device-dependent units. Similarly, the PLAYER_FIDUCIAL_EXCHANGE_MSG request sends a message, then returns the most recently received message. Depending on the device and the situation, this could be a reflection of the sent message, a reply from the target of the sent message, or a message received from an unrelated sender. typedef struct player_fiducial_msg_rx_req player_fiducial_msg_rx_req_t   Configuration request: Fiducial receive message request. The server replies with a player_fiducial_msg_t typedef struct player_fiducial_msg_tx_req player_fiducial_msg_tx_req_t   Configuration request: Fiducial send message request. The server replies with ACK/NACK only. typedef struct player_fiducial_msg_txrx_req player_fiducial_msg_txrx_req_t   Configuration request: Fiducial exchange message request. The device sends the message, then replies with the last message received, which may be (but is not guaranteed to be) be a reply to the sent message. NOTE: this is not yet supported by Stage-1.4.