A robot that moves in 3-D. More...

#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_REQ_GET_GEOM 1
	Request/reply subtype: get geometry.
#define	PLAYER_POSITION3D_REQ_MOTOR_POWER 2
	Request/reply subtype: motor power.
#define	PLAYER_POSITION3D_REQ_VELOCITY_MODE 3
	Request/reply subtype: velocity mode.
#define	PLAYER_POSITION3D_REQ_POSITION_MODE 4
	Request/reply subtype: position mode.
#define	PLAYER_POSITION3D_REQ_RESET_ODOM 5
	Request/reply subtype: reset odometry.
#define	PLAYER_POSITION3D_REQ_SET_ODOM 6
	Request/reply subtype: set odometry.
#define	PLAYER_POSITION3D_REQ_SPEED_PID 7
	Request/reply subtype: set speed PID params.
#define	PLAYER_POSITION3D_REQ_POSITION_PID 8
	Request/reply subtype: set position PID params.
#define	PLAYER_POSITION3D_REQ_SPEED_PROF 9
	Request/reply subtype: set speed profile params.
typedef struct player_position3d_data	player_position3d_data_t
	Data: state (PLAYER_POSITION3D_DATA_STATE)
typedef struct player_position3d_cmd_pos	player_position3d_cmd_pos_t
	Command: position (PLAYER_POSITION3D_CMD_SET_POS)
typedef struct player_position3d_cmd_vel	player_position3d_cmd_vel_t
	Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)
typedef struct player_position3d_geom	player_position3d_geom_t
	Request/reply: Query geometry.
typedef struct player_position3d_power_config	player_position3d_power_config_t
	Request/reply: Motor power.
typedef struct player_position3d_position_mode_req	player_position3d_position_mode_req_t
	Request/reply: Change position control.
typedef struct player_position3d_velocity_mode_config	player_position3d_velocity_mode_config_t
	Request/reply: Change velocity control.
typedef struct player_position3d_set_odom_req	player_position3d_set_odom_req_t
	Request/reply: Set odometry.
typedef struct player_position3d_speed_pid_req	player_position3d_speed_pid_req_t
	Request/reply: Reset odometry.
typedef struct player_position3d_position_pid_req	player_position3d_position_pid_req_t
	Request/reply: Set position PID parameters.
typedef struct player_position3d_speed_prof_req	player_position3d_speed_prof_req_t
	Request/reply: Set speed profile parameters.

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).

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_REQ_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_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: Reset odometry.

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