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

truth [Interfaces] Detailed Description The truth interface provides access to the absolute state of entities. Note that, unless your robot has superpowers, truth devices are only avilable in simulation. Classes struct   player_truth_data   Data. More... struct   player_truth_pose   Configuration request: Get/set pose. More... struct   player_truth_fiducial_id   Configuration request: Get/set fiducial ID number. More... Defines #define  PLAYER_TRUTH_GET_POSE   0x00 #define  PLAYER_TRUTH_SET_POSE   0x01 #define  PLAYER_TRUTH_SET_POSE_ON_ROOT   0x02 #define  PLAYER_TRUTH_GET_FIDUCIAL_ID   0x03 #define  PLAYER_TRUTH_SET_FIDUCIAL_ID   0x04 Typedefs typedef player_truth_data  player_truth_data_t   Data. typedef player_truth_pose  player_truth_pose_t   Configuration request: Get/set pose. typedef player_truth_fiducial_id  player_truth_fiducial_id_t   Configuration request: Get/set fiducial ID number. Define Documentation #define PLAYER_TRUTH_GET_POSE   0x00 #define PLAYER_TRUTH_SET_POSE   0x01 #define PLAYER_TRUTH_SET_POSE_ON_ROOT   0x02 #define PLAYER_TRUTH_GET_FIDUCIAL_ID   0x03 #define PLAYER_TRUTH_SET_FIDUCIAL_ID   0x04 Typedef Documentation typedef struct player_truth_data player_truth_data_t   Data. The truth interface returns data concerning the current state of an entity. typedef struct player_truth_pose player_truth_pose_t   Configuration request: Get/set pose. To get the pose of an object, use the following request, filling in only the subtype with PLAYER_TRUTH_GET_POSE (this functionality is subsumed by the data packet and should probably be removed). The server will respond with the other fields filled in. To set the pose, set the subtype to PLAYER_TRUTH_SET_POS and fill in the rest of the fields with the new pose. typedef struct player_truth_fiducial_id player_truth_fiducial_id_t   Configuration request: Get/set fiducial ID number. To get the fiducial ID of an object, use the following request, filling in only the subtype with PLAYER_TRUTH_GET_FIDUCIAL_ID. The server will respond with the ID field filled in. To set the fiducial ID, set the subtype to PLAYER_TRUTH_SET_FIDUCIAL_ID and fill in the ID field with the desired value.