limb
[Interface specifications]
Detailed Description
A multi-jointed limb.The limb interface provides access to a multi-jointed limb
- Todo:
- Use pre-defined types, like player_pose3d_t, wherever possible
Typedef Documentation
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Request/reply: Brakes. Turn the brakes of the limb on or off by sending a PLAYER_LIMB_BRAKES_REQ request. Null response |
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Data: state (PLAYER_LIMB_DATA). The limb data packet. |
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Request/reply: get geometry. Query geometry by sending a null PLAYER_LIMB_GEOM_REQ reqest. |
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Command: home (PLAYER_LIMB_HOME_CMD). Tells the end effector to return to its home position. |
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Request/reply: Power. Turn the power to the limb by sending a PLAYER_LIMB_POWER_REQ request. Be careful when turning power on that the limb is not obstructed from its home position in case it moves to it (common behaviour). Null reponse |
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Command: Set end effector pose (PLAYER_LIMB_SETPOSE_CMD). Provides a fully-described pose (position, normal vector and orientation vector) for the end effector to move to. |
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Command: Set end effector position (PLAYER_LIMB_SETPOSITION_CMD). Set the position of the end effector without worrying about a specific orientation. |
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Request/reply: Speed. Set the speed of the end effector for all subsequent movements by sending a PLAYER_LIMB_SPEED_REQ request. Null response. |
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Command: stop (PLAYER_LIMB_STOP_CMD). Tells the limb to stop moving immediatly. |
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Command: Vector move the end effector (PLAYER_LIMB_VECMOVE_CMD). Move the end effector along the provided vector from its current position for the provided distance. |