DEPRECATED Array of ultrasonic rangers More...

#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 struct player_sonar_data	player_sonar_data_t
	Data: ranges (PLAYER_SONAR_DATA_RANGES)
typedef struct player_sonar_geom	player_sonar_geom_t
	Data AND Request/reply: geometry.
typedef struct player_sonar_power_config	player_sonar_power_config_t
	Request/reply: Sonar power.

Detailed Description

DEPRECATED Array of ultrasonic rangers

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

This interface is deprecated. Use the ranger instead.

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.