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position3d [Proxies] Detailed Description The position3d proxy provides an interface to a mobile robot base, such as the Segway RMP 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_position3d_t Functions playerc_position3d_t *  playerc_position3d_create (playerc_client_t *client, int index) void  playerc_position3d_destroy (playerc_position3d_t *device) int  playerc_position3d_subscribe (playerc_position3d_t *device, int access) int  playerc_position3d_unsubscribe (playerc_position3d_t *device) void  playerc_position3d_putdata (playerc_position3d_t *device, player_msghdr_t *header, player_position3d_data_t *data, size_t len) int  playerc_position3d_enable (playerc_position3d_t *device, int enable) int  playerc_position3d_get_geom (playerc_position3d_t *device) int  playerc_position3d_set_velocity (playerc_position3d_t *device, double vx, double vy, double vz, double vr, double vp, double vt, int state) int  playerc_position3d_set_speed (playerc_position3d_t *device, double vx, double vy, double vz, int state) int  playerc_position3d_set_pose (playerc_position3d_t *device, double gx, double gy, double gz, double gr, double gp, double gt) int  playerc_position3d_set_cmd_pose (playerc_position3d_t *device, double gx, double gy, double gz) Function Documentation playerc_position3d_t* playerc_position3d_create (  playerc_client_t *  client, int  index )    Create a position3d device proxy. void playerc_position3d_destroy (  playerc_position3d_t *  device  )    Destroy a position3d device proxy. int playerc_position3d_subscribe (  playerc_position3d_t *  device, int  access )    Subscribe to the position3d device int playerc_position3d_unsubscribe (  playerc_position3d_t *  device  )    Un-subscribe from the position3d device void playerc_position3d_putdata (  playerc_position3d_t *  device, player_msghdr_t *  header, player_position3d_data_t *  data, size_t  len )    For internal use only. Parse data from incoming packet int playerc_position3d_enable (  playerc_position3d_t *  device, int  enable )    Enable/disable the motors int playerc_position3d_get_geom (  playerc_position3d_t *  device  )    Get the position3d geometry. The writes the result into the proxy rather than returning it to the caller. int playerc_position3d_set_velocity (  playerc_position3d_t *  device, double  vx, double  vy, double  vz, double  vr, double  vp, double  vt, int  state )    Set the target speed. vx : forward speed (m/s). vy : sideways speed (m/s); vz : vertical speed (m/s). vr : roll speed (rad/s) . vp : pitch speed (rad/s) . vt : theta speed (rad/s). All speeds are defined in the robot coordinate system. int playerc_position3d_set_speed (  playerc_position3d_t *  device, double  vx, double  vy, double  vz, int  state )    For compatibility with old position3d interface int playerc_position3d_set_pose (  playerc_position3d_t *  device, double  gx, double  gy, double  gz, double  gr, double  gp, double  gt )    Set the target pose (gx, gy, ga, gr, gp, gt) is the target pose in the odometric coordinate system. int playerc_position3d_set_cmd_pose (  playerc_position3d_t *  device, double  gx, double  gy, double  gz )    For compatibility with old position3d interface