sonar
[Interface specifications]

Detailed Description

Array of ultrasonic rangers.

The sonar interface provides access to a collection of fixed range sensors, such as a sonar array.

#define PLAYER_SONAR_MAX_SAMPLES   64
 maximum number of sonar samples in a data packet
#define PLAYER_SONAR_REQ_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_SONAR_REQ_POWER   2
 Request/reply subtype: power.
#define PLAYER_SONAR_DATA_RANGES   1
 Data subtype: ranges.
#define PLAYER_SONAR_DATA_GEOM   2
 Data subtype: geometry.
typedef player_sonar_data player_sonar_data_t
 Data: ranges (PLAYER_SONAR_DATA_RANGES).
typedef player_sonar_geom player_sonar_geom_t
 Data AND Request/reply: geometry.
typedef player_sonar_power_config player_sonar_power_config_t
 Request/reply: Sonar power.

Typedef Documentation

typedef struct player_sonar_data player_sonar_data_t
 

Data: ranges (PLAYER_SONAR_DATA_RANGES).

The sonar interface returns up to PLAYER_SONAR_MAX_SAMPLES range readings from a robot's sonars.

typedef struct player_sonar_geom player_sonar_geom_t
 

Data AND Request/reply: geometry.

To query the geometry of the sonar transducers, send a null PLAYER_SONAR_REQ_GET_GEOM request. Depending on the underlying driver, this message can also be sent as data with the subtype PLAYER_SONAR_DATA_GEOM.

typedef struct player_sonar_power_config player_sonar_power_config_t
 

Request/reply: Sonar power.

On some robots, the sonars can be turned on and off from software. To do so, send a PLAYER_SONAR_REQ_POWER request. Null response.

Last updated 12 September 2005 21:38:45