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position3d [Interfaces] Detailed Description The position3d interface is used to control mobile robot bases in 3D (i.e., pitch and roll are important). Classes struct   player_position3d_data   Data. More... struct   player_position3d_cmd   Command. More... struct   player_position3d_geom   Configuration request: Query geometry. More... struct   player_position3d_power_config   Configuration request: Motor power. More... struct   player_position3d_position_mode_req   Configuration request: Change position control. More... struct   player_position3d_velocitymode_config   Configuration request: Change velocity control. More... struct   player_position3d_set_odom_req   Configuration request: Set odometry. More... struct   player_position3d_resetodom_config   Configuration request: Reset odometry. More... struct   player_position3d_speed_pid_req   Configuration request: Set velocity PID parameters. More... struct   player_position3d_position_pid_req   Configuration request: Set position PID parameters. More... struct   player_position3d_speed_prof_req   Configuration request: Set odometry. More... Defines #define  PLAYER_POSITION3D_GET_GEOM_REQ   ((uint8_t)1) #define  PLAYER_POSITION3D_MOTOR_POWER_REQ   ((uint8_t)2) #define  PLAYER_POSITION3D_VELOCITY_MODE_REQ   ((uint8_t)3) #define  PLAYER_POSITION3D_RESET_ODOM_REQ   ((uint8_t)4) #define  PLAYER_POSITION3D_POSITION_MODE_REQ   ((uint8_t)5) #define  PLAYER_POSITION3D_SPEED_PID_REQ   ((uint8_t)6) #define  PLAYER_POSITION3D_POSITION_PID_REQ   ((uint8_t)7) #define  PLAYER_POSITION3D_SPEED_PROF_REQ   ((uint8_t)8) #define  PLAYER_POSITION3D_SET_ODOM_REQ   ((uint8_t)9) Typedefs typedef player_position3d_data  player_position3d_data_t   Data. typedef player_position3d_cmd  player_position3d_cmd_t   Command. typedef player_position3d_geom  player_position3d_geom_t   Configuration request: Query geometry. typedef player_position3d_power_config  player_position3d_power_config_t   Configuration request: Motor power. typedef player_position3d_position_mode_req  player_position3d_position_mode_req_t   Configuration request: Change position control. typedef player_position3d_velocitymode_config  player_position3d_velocitymode_config_t   Configuration request: Change velocity control. typedef player_position3d_set_odom_req  player_position3d_set_odom_req_t   Configuration request: Set odometry. typedef player_position3d_resetodom_config  player_position3d_resetodom_config_t   Configuration request: Reset odometry. typedef player_position3d_speed_pid_req  player_position3d_speed_pid_req_t   Configuration request: Set velocity PID parameters. typedef player_position3d_position_pid_req  player_position3d_position_pid_req_t   Configuration request: Set position PID parameters. typedef player_position3d_speed_prof_req  player_position3d_speed_prof_req_t   Configuration request: Set odometry. Define Documentation #define PLAYER_POSITION3D_GET_GEOM_REQ   ((uint8_t)1) #define PLAYER_POSITION3D_MOTOR_POWER_REQ   ((uint8_t)2) #define PLAYER_POSITION3D_VELOCITY_MODE_REQ   ((uint8_t)3) #define PLAYER_POSITION3D_RESET_ODOM_REQ   ((uint8_t)4) #define PLAYER_POSITION3D_POSITION_MODE_REQ   ((uint8_t)5) #define PLAYER_POSITION3D_SPEED_PID_REQ   ((uint8_t)6) #define PLAYER_POSITION3D_POSITION_PID_REQ   ((uint8_t)7) #define PLAYER_POSITION3D_SPEED_PROF_REQ   ((uint8_t)8) #define PLAYER_POSITION3D_SET_ODOM_REQ   ((uint8_t)9) Typedef Documentation typedef struct player_position3d_data player_position3d_data_t   Data. This interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information. typedef struct player_position3d_cmd player_position3d_cmd_t   Command. It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both). typedef struct player_position3d_geom player_position3d_geom_t   Configuration request: Query geometry. To request robot geometry, set the subtype to PLAYER_POSITION_GET_GEOM_REQ and leave the other fields empty. The server will reply with the pose and size fields filled in. typedef struct player_position3d_power_config player_position3d_power_config_t   Configuration request: Motor power. On some robots, the motor power can be turned on and off from software. To do so, send a request with the format given below, and with the appropriate state (zero for motors off and non-zero for motors on). The server will reply with a zero-length acknowledgement. Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached. typedef struct player_position3d_position_mode_req player_position3d_position_mode_req_t   Configuration request: Change position control. typedef struct player_position3d_velocitymode_config player_position3d_velocitymode_config_t   Configuration request: Change velocity control. Some robots offer different velocity control modes. It can be changed by sending a request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position3d device remains the same. The server will reply with a zero-length acknowledgement typedef struct player_position3d_set_odom_req player_position3d_set_odom_req_t   Configuration request: Set odometry. To set the robot's odometry to a particular state, use this request. typedef struct player_position3d_resetodom_config player_position3d_resetodom_config_t   Configuration request: Reset odometry. To reset the robot's odometry to , use this request. The server will reply with a zero-length acknowledgement. typedef struct player_position3d_speed_pid_req player_position3d_speed_pid_req_t   Configuration request: Set velocity PID parameters. typedef struct player_position3d_position_pid_req player_position3d_position_pid_req_t   Configuration request: Set position PID parameters. typedef struct player_position3d_speed_prof_req player_position3d_speed_prof_req_t   Configuration request: Set odometry.