sonar
[Interface specifications]
Collaboration diagram for sonar:
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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_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.