position3d
[Interface specifications]

Detailed Description

A robot that moves in 3-D.

The position3d interface is used to control mobile robot bases in 3D (i.e., pitch and roll are important).

#define PLAYER_POSITION3D_DATA_STATE   1
 Data subtype: state.
#define PLAYER_POSITION3D_DATA_GEOMETRY   2
 Data subtype: geometry.
#define PLAYER_POSITION3D_CMD_SET_VEL   1
 Command subtype: velocity control.
#define PLAYER_POSITION3D_CMD_SET_POS   2
 Command subtype: position control.
#define PLAYER_POSITION3D_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_POSITION3D_MOTOR_POWER   2
 Request/reply subtype: motor power.
#define PLAYER_POSITION3D_VELOCITY_MODE   3
 Request/reply subtype: velocity mode.
#define PLAYER_POSITION3D_POSITION_MODE   4
 Request/reply subtype: position mode.
#define PLAYER_POSITION3D_RESET_ODOM   5
 Request/reply subtype: reset odometry.
#define PLAYER_POSITION3D_SET_ODOM   6
 Request/reply subtype: set odometry.
#define PLAYER_POSITION3D_SPEED_PID   7
 Request/reply subtype: set speed PID params.
#define PLAYER_POSITION3D_POSITION_PID   8
 Request/reply subtype: set position PID params.
#define PLAYER_POSITION3D_SPEED_PROF   9
 Request/reply subtype: set speed profile params.
typedef player_position3d_data player_position3d_data_t
 Data: state (PLAYER_POSITION3D_DATA_STATE).
typedef player_position3d_cmd_pos player_position3d_cmd_pos_t
 Command: position (PLAYER_POSITION3D_CMD_SET_POS).
typedef player_position3d_cmd_vel player_position3d_cmd_vel_t
 Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL).
typedef player_position3d_geom player_position3d_geom_t
 Request/reply: Query geometry.
typedef player_position3d_power_config player_position3d_power_config_t
 Request/reply: Motor power.
typedef player_position3d_position_mode_req player_position3d_position_mode_req_t
 Request/reply: Change position control.
typedef player_position3d_velocity_mode_config player_position3d_velocity_mode_config_t
 Request/reply: Change velocity control.
typedef player_position3d_set_odom_req player_position3d_set_odom_req_t
 Request/reply: Set odometry.
typedef player_position3d_reset_odom_config player_position3d_reset_odom_config_t
 Request/reply: Reset odometry.
typedef player_position3d_speed_pid_req player_position3d_speed_pid_req_t
 Request/reply: Set velocity PID parameters.
typedef player_position3d_position_pid_req player_position3d_position_pid_req_t
 Request/reply: Set position PID parameters.
typedef player_position3d_speed_prof_req player_position3d_speed_prof_req_t
 Request/reply: Set speed profile parameters.

Typedef Documentation

typedef struct player_position3d_cmd_pos player_position3d_cmd_pos_t
 

Command: position (PLAYER_POSITION3D_CMD_SET_POS).

It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both).

typedef struct player_position3d_cmd_vel player_position3d_cmd_vel_t
 

Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL).

It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both).

typedef struct player_position3d_data player_position3d_data_t
 

Data: state (PLAYER_POSITION3D_DATA_STATE).

This interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information.

typedef struct player_position3d_geom player_position3d_geom_t
 

Request/reply: Query geometry.

To request robot geometry, send a null PLAYER_POSITION3D_GET_GEOM request.

typedef struct player_position3d_position_mode_req player_position3d_position_mode_req_t
 

Request/reply: Change position control.

To change control mode, send a PLAYER_POSITION3D_POSITION_MODE request. Null response.

typedef struct player_position3d_position_pid_req player_position3d_position_pid_req_t
 

Request/reply: Set position PID parameters.

To set position PID parameters, send a PLAYER_POSITION3D_POSITION_PID request. Null response.

typedef struct player_position3d_power_config player_position3d_power_config_t
 

Request/reply: Motor power.

On some robots, the motor power can be turned on and off from software. To do so, send a PLAYER_POSITION3D_MOTOR_POWER request with the format given below, and with the appropriate state (zero for motors off and non-zero for motors on). Null response.

Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.

typedef struct player_position3d_reset_odom_config player_position3d_reset_odom_config_t
 

Request/reply: Reset odometry.

To reset the robot's odometry to $(x,y,\theta) = (0,0,0)$, send a PLAYER_POSITION3D_RESET_ODOM request. Null response.

typedef struct player_position3d_set_odom_req player_position3d_set_odom_req_t
 

Request/reply: Set odometry.

To set the robot's odometry to a particular state, send a PLAYER_POSITION3D_SET_ODOM request. Null response.

typedef struct player_position3d_speed_pid_req player_position3d_speed_pid_req_t
 

Request/reply: Set velocity PID parameters.

To set velocity PID parameters, send a PLAYER_POSITION3D_SPEED_PID request. Null response.

typedef struct player_position3d_speed_prof_req player_position3d_speed_prof_req_t
 

Request/reply: Set speed profile parameters.

To set speed profile parameters, send a PLAYER_POSITION3D_SPEED_PROF request. Null response.

typedef struct player_position3d_velocity_mode_config player_position3d_velocity_mode_config_t
 

Request/reply: Change velocity control.

Some robots offer different velocity control modes. It can be changed by sending a PLAYER_POSITION3D_VELOCITY_MODE request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position3d device remains the same. Null response.

Last updated 12 September 2005 21:38:45