position2d format

position2d log format More...

position2d log format

opaque log format

The following type:subtype position2d messages can be logged:

• 1:1 (PLAYER_POSITION2D_DATA_STATE) Odometry information. The format is:
  • px (float): X coordinate of the device's pose, in meters
  • py (float): Y coordinate of the device's pose, in meters
  • pa (float): yaw coordinate of the device's pose, in radians
  • vx (float): X coordinate of the device's velocity, in meters/sec
  • vy (float): Y coordinate of the device's velocity, in meters/sec
  • va (float): yaw coordinate of the device's velocity, in radians/sec
  • stall (int): Motor stall flag

• 4:1 (PLAYER_POSITION2D_REQ_GET_GEOM) Geometry info. The format is:
  • px (float): X coordinate of the offset of the device's center of rotation, in meters
  • py (float): Y coordinate of the offset of the device's center of rotation, in meters
  • pa (float): yaw coordinate of the offset of the device's center of rotation, in radians
  • sx (float): The device's length, in meters
  • sy (float): The device's width, in meters

The following type:subtype opaque messages can be logged:

• 1:1 (PLAYER_OPAQUE_DATA_STATE) Data information. The format is:
  • data_count (uint32_t): Number of valid bytes to follow
  • list of bytes; for each byte:
    • data uint8_t:

• 2:2 (PLAYER_OPAQUE_CMD) Command information. The format is:
  • data_count (uint32_t): Number of valid bytes to follow
  • list of bytes; for each byte:
    • data uint8_t: