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position [Proxies] Detailed Description The position proxy provides an interface to a mobile robot base, such as the ActiveMedia Pioneer series. The proxy supports both differential drive robots (which are capable of forward motion and rotation) and omni-drive robots (which are capable of forward, sideways and rotational motion). Classes struct   playerc_position_t   Position device data. More... Functions playerc_position_t *  playerc_position_create (playerc_client_t *client, int index)   Create a position device proxy. void  playerc_position_destroy (playerc_position_t *device)   Destroy a position device proxy. int  playerc_position_subscribe (playerc_position_t *device, int access)   Subscribe to the position device. int  playerc_position_unsubscribe (playerc_position_t *device)   Un-subscribe from the position device. void  playerc_position_putdata (playerc_position_t *device, player_msghdr_t *header, player_position_data_t *data, size_t len) int  playerc_position_enable (playerc_position_t *device, int enable)   Enable/disable the motors. int  playerc_position_get_geom (playerc_position_t *device)   Get the position geometry. int  playerc_position_set_cmd_vel (playerc_position_t *device, double vx, double vy, double va, int state)   Set the target speed. int  playerc_position_set_cmd_pose (playerc_position_t *device, double gx, double gy, double ga, int state)   Set the target pose. Function Documentation playerc_position_t* playerc_position_create (  playerc_client_t *  client, int  index )    Create a position device proxy. void playerc_position_destroy (  playerc_position_t *  device  )    Destroy a position device proxy. int playerc_position_subscribe (  playerc_position_t *  device, int  access )    Subscribe to the position device. int playerc_position_unsubscribe (  playerc_position_t *  device  )    Un-subscribe from the position device. void playerc_position_putdata (  playerc_position_t *  device, player_msghdr_t *  header, player_position_data_t *  data, size_t  len )    For internal use only. Parse data from incoming packet int playerc_position_enable (  playerc_position_t *  device, int  enable )    Enable/disable the motors. int playerc_position_get_geom (  playerc_position_t *  device  )    Get the position geometry. The writes the result into the proxy rather than returning it to the caller. int playerc_position_set_cmd_vel (  playerc_position_t *  device, double  vx, double  vy, double  va, int  state )    Set the target speed. All speeds are defined in the robot coordinate system. Parameters: device  Pointer to proxy object. vx  Forward speed (m/s). vy  Sideways speed (m/s); this field is used by omni-drive robots only. va  Rotational speed (radians/s). state  Set to 1 to enable motors. int playerc_position_set_cmd_pose (  playerc_position_t *  device, double  gx, double  gy, double  ga, int  state )    Set the target pose. Parameters: device  Pointer to proxy object. gx,gy,ga  Target pose in the odometric coordinate system. state  Set to 1 to enable motors.