The position2d proxy provides an interface to a mobile robot base, such as the ActiveMedia Pioneer series. More...
Classes | |
| struct | playerc_position2d_t |
| Position2d device data. More... | |
Functions | |
| PLAYERC_EXPORT playerc_position2d_t * | playerc_position2d_create (playerc_client_t *client, int index) |
| Create a position2d device proxy. | |
| PLAYERC_EXPORT void | playerc_position2d_destroy (playerc_position2d_t *device) |
| Destroy a position2d device proxy. | |
| PLAYERC_EXPORT int | playerc_position2d_subscribe (playerc_position2d_t *device, int access) |
| Subscribe to the position2d device. | |
| PLAYERC_EXPORT int | playerc_position2d_unsubscribe (playerc_position2d_t *device) |
| Un-subscribe from the position2d device. | |
| PLAYERC_EXPORT int | playerc_position2d_enable (playerc_position2d_t *device, int enable) |
| Enable/disable the motors. | |
| PLAYERC_EXPORT int | playerc_position2d_get_geom (playerc_position2d_t *device) |
| Get the position2d geometry. | |
| PLAYERC_EXPORT int | playerc_position2d_set_cmd_vel (playerc_position2d_t *device, double vx, double vy, double va, int state) |
| Set the target speed. | |
| PLAYERC_EXPORT int | playerc_position2d_set_cmd_pose_with_vel (playerc_position2d_t *device, player_pose2d_t pos, player_pose2d_t vel, int state) |
| Set the target pose with given motion vel. | |
| PLAYERC_EXPORT int | playerc_position2d_set_cmd_vel_head (playerc_position2d_t *device, double vx, double vy, double pa, int state) |
| Set the target speed and heading. | |
| PLAYERC_EXPORT int | playerc_position2d_set_cmd_pose (playerc_position2d_t *device, double gx, double gy, double ga, int state) |
| Set the target pose (gx, gy, ga) is the target pose in the odometric coordinate system. | |
| PLAYERC_EXPORT int | playerc_position2d_set_cmd_car (playerc_position2d_t *device, double vx, double a) |
| Set the target cmd for car like position. | |
| PLAYERC_EXPORT int | playerc_position2d_set_odom (playerc_position2d_t *device, double ox, double oy, double oa) |
| Set the odometry offset. | |
Detailed Description
The position2d proxy provides an interface to a mobile robot base, such as the ActiveMedia Pioneer series.
The proxy supports both differential drive robots (which are capable of forward motion and rotation) and omni-drive robots (which are capable of forward, sideways and rotational motion).
Function Documentation
| PLAYERC_EXPORT playerc_position2d_t* playerc_position2d_create | ( | playerc_client_t * | client, |
| int | index | ||
| ) |
Create a position2d device proxy.
| PLAYERC_EXPORT void playerc_position2d_destroy | ( | playerc_position2d_t * | device | ) |
Destroy a position2d device proxy.
| PLAYERC_EXPORT int playerc_position2d_get_geom | ( | playerc_position2d_t * | device | ) |
Get the position2d geometry.
The writes the result into the proxy rather than returning it to the caller.
| PLAYERC_EXPORT int playerc_position2d_set_cmd_pose | ( | playerc_position2d_t * | device, |
| double | gx, | ||
| double | gy, | ||
| double | ga, | ||
| int | state | ||
| ) |
Set the target pose (gx, gy, ga) is the target pose in the odometric coordinate system.
| PLAYERC_EXPORT int playerc_position2d_set_cmd_vel | ( | playerc_position2d_t * | device, |
| double | vx, | ||
| double | vy, | ||
| double | va, | ||
| int | state | ||
| ) |
Set the target speed.
vx : forward speed (m/s). vy : sideways speed (m/s); this field is used by omni-drive robots only. va : rotational speed (rad/s). All speeds are defined in the robot coordinate system.
| PLAYERC_EXPORT int playerc_position2d_set_cmd_vel_head | ( | playerc_position2d_t * | device, |
| double | vx, | ||
| double | vy, | ||
| double | pa, | ||
| int | state | ||
| ) |
Set the target speed and heading.
vx : forward speed (m/s). vy : sideways speed (m/s); this field is used by omni-drive robots only. pa : rotational heading (rad). All speeds and angles are defined in the robot coordinate system.