The following type:subtype sonar messages can be logged:
- 1:1 (PLAYER_SONAR_DATA_RANGES) Range data. The format is:
- range_count (int): number range values to follow
- list of readings; for each reading:
- 1:2 (PLAYER_SONAR_DATA_GEOM) Geometry data. The format is:
- pose_count (int): number of sonar poses to follow
- list of tranducer poses; for each pose:
- x (float): relative X position of transducer, in meters
- y (float): relative Y position of transducer, in meters
- a (float): relative yaw orientation of transducer, in radians
- 4:1 (PLAYER_SONAR_REQ_GET_GEOM) Geometry info. The format is:
- pose_count (int): number of sonar poses to follow
- list of tranducer poses; for each pose:
- x (float): relative X position of transducer, in meters
- y (float): relative Y position of transducer, in meters
- a (float): relative yaw orientation of transducer, in radians
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Last updated 12 September 2005 21:38:45
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