Home FAQ Player Stage Gazebo Contrib Documentation Publications Contributors Users Project Download Bugs/Feedback Mailing lists Radish Old news Old stuff

simulation [Interfaces] Detailed Description Player devices may either be real hardware or virtual devices generated by a simulator such as Stage or Gazebo. This interface provides direct access to a simulator. This interface doesn't do much yet. It is in place to later support things like pausing and restarting the simulation clock, saving and loading, etc. It is documented because it is used by the stg_simulation driver; required by all stageclient drivers (stg_*). Note: the Stage and Gazebo developers should confer on the best design for this interface. Suggestions welcome on playerstage-developers. Classes struct   player_simulation_data   Data. More... struct   player_simulation_cmd   Command. More... struct   player_simulation_pose2d_req   Configuration request: set or get 2D pose of a named simulation object. More... Defines #define  PLAYER_SIMULATION_SET_POSE2D   0x00 #define  PLAYER_SIMULATION_GET_POSE2D   0x01 #define  PLAYER_SIMULATION_IDENTIFIER_MAXLEN   64 Typedefs typedef player_simulation_data  player_simulation_data_t   Data. typedef player_simulation_cmd  player_simulation_cmd_t   Command. typedef player_simulation_pose2d_req  player_simulation_pose2d_req_t   Configuration request: set or get 2D pose of a named simulation object. Define Documentation #define PLAYER_SIMULATION_SET_POSE2D   0x00   Request packet subtypes. #define PLAYER_SIMULATION_GET_POSE2D   0x01 #define PLAYER_SIMULATION_IDENTIFIER_MAXLEN   64   the maximum length of a string indentifying a simulation object Typedef Documentation typedef struct player_simulation_data player_simulation_data_t   Data. Just a placeholder for now; data will be added in future. typedef struct player_simulation_cmd player_simulation_cmd_t   Command. Just a placeholder for now; data will be added in future. typedef struct player_simulation_pose2d_req player_simulation_pose2d_req_t   Configuration request: set or get 2D pose of a named simulation object. To set or get the pose of an object in a simulator, use this message type. If the subtype is PLAYER_SIMULATION_SET_POSE2D, the server will ask the simulator to move the named object to the location specified by (x,y,a) and return ACK. If the subtype is PLAYER_SIMULATION_GET_POSE2D, the server will attempt to locate the named object and reply with the same packet with (x,y,a) filled in. For all message subtypes, if the named object does not exist, or some other error occurs, the request should reply NACK.