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

position2d [Proxies] Detailed Description Deprecated: Todo: Remove position2d The position2d 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_position2d_t Functions playerc_position2d_t *  playerc_position2d_create (playerc_client_t *client, int index) void  playerc_position2d_destroy (playerc_position2d_t *device) int  playerc_position2d_subscribe (playerc_position2d_t *device, int access) int  playerc_position2d_unsubscribe (playerc_position2d_t *device) int  playerc_position2d_enable (playerc_position2d_t *device, int enable) int  playerc_position2d_get_geom (playerc_position2d_t *device) int  playerc_position2d_set_cmd_vel (playerc_position2d_t *device, double vx, double vy, double va, int state) int  playerc_position2d_set_cmd_pose (playerc_position2d_t *device, double gx, double gy, double ga, int state) Function Documentation playerc_position2d_t* playerc_position2d_create (  playerc_client_t *  client, int  index )    Create a position2d device proxy. void playerc_position2d_destroy (  playerc_position2d_t *  device  )    Destroy a position2d device proxy. int playerc_position2d_subscribe (  playerc_position2d_t *  device, int  access )    Subscribe to the position2d device int playerc_position2d_unsubscribe (  playerc_position2d_t *  device  )    Un-subscribe from the position2d device int playerc_position2d_enable (  playerc_position2d_t *  device, int  enable )    Enable/disable the motors int playerc_position2d_get_geom (  playerc_position2d_t *  device  )    Get the position2d geometry. The writes the result into the proxy rather than returning it to the caller. int playerc_position2d_set_cmd_vel (  playerc_position2d_t *  device, double  vx, double  vy, double  va, int  state )    Set the target speed. vx : forward speed (m/s). vy : sideways speed (m/s); this field is used by omni-drive robots only. va : rotational speed (rad/s). All speeds are defined in the robot coordinate system. int playerc_position2d_set_cmd_pose (  playerc_position2d_t *  device, double  gx, double  gy, double  ga, int  state )    Set the target pose (gx, gy, ga) is the target pose in the odometric coordinate system.