Ranger proxy data. More...
#include <playerc.h>
Public Attributes | |
| playerc_device_t | info |
| Device info; must be at the start of all device structures. | |
| uint32_t | element_count |
| Number of individual elements in the device. | |
| double | min_angle |
| Start angle of scans [rad]. | |
| double | max_angle |
| End angle of scans [rad]. | |
| double | angular_res |
| Scan resolution [rad]. | |
| double | min_range |
| Minimum range [m]. | |
| double | max_range |
| Maximum range [m]. | |
| double | range_res |
| Range resolution [m]. | |
| double | frequency |
| Scanning frequency [Hz]. | |
| player_pose3d_t | device_pose |
| Device geometry in the robot CS: pose gives the position and orientation, size gives the extent. | |
| player_bbox3d_t | device_size |
| player_pose3d_t * | element_poses |
| Geometry of each individual element in the device (e.g. | |
| player_bbox3d_t * | element_sizes |
| uint32_t | ranges_count |
| Number of ranges in a scan. | |
| double * | ranges |
| Range data [m]. | |
| uint32_t | intensities_count |
| Number of intensities in a scan. | |
| double * | intensities |
| Intensity data [m]. | |
| uint32_t | bearings_count |
| Number of scan bearings. | |
| double * | bearings |
| Scan bearings in the XY plane [radians]. | |
| uint32_t | points_count |
| Number of scan points. | |
| player_point_3d_t * | points |
| Scan points (x, y, z). | |
Detailed Description
Ranger proxy data.
Member Data Documentation
Scan resolution [rad].
May be unfilled.
| double* playerc_ranger_t::bearings |
Scan bearings in the XY plane [radians].
Note that for multi-element devices, these bearings will be from the pose of each element.
| uint32_t playerc_ranger_t::bearings_count |
Number of scan bearings.
Device geometry in the robot CS: pose gives the position and orientation, size gives the extent.
These values are filled in by calling playerc_ranger_get_geom(), or from pose-stamped data.
| uint32_t playerc_ranger_t::element_count |
Number of individual elements in the device.
Geometry of each individual element in the device (e.g.
a single sonar sensor in a sonar array). These values are filled in by calling playerc_ranger_get_geom(), or from pose-stamped data.
| double playerc_ranger_t::frequency |
Scanning frequency [Hz].
May be unfilled.
Device info; must be at the start of all device structures.
| double* playerc_ranger_t::intensities |
Intensity data [m].
Note that this data may require setting of the suitable property on the driver to before it will be filled. Possible properties include intns_on for laser devices and volt_on for IR devices.
| uint32_t playerc_ranger_t::intensities_count |
Number of intensities in a scan.
| double playerc_ranger_t::max_angle |
End angle of scans [rad].
May be unfilled.
| double playerc_ranger_t::max_range |
Maximum range [m].
May be unfilled.
| double playerc_ranger_t::min_angle |
Start angle of scans [rad].
May be unfilled.
| double playerc_ranger_t::min_range |
Minimum range [m].
Values below this are typically errors and should usually not be treated as valid data. May be unfilled.
Scan points (x, y, z).
| uint32_t playerc_ranger_t::points_count |
Number of scan points.
| double playerc_ranger_t::range_res |
Range resolution [m].
May be unfilled.
| double* playerc_ranger_t::ranges |
Range data [m].
| uint32_t playerc_ranger_t::ranges_count |
Number of ranges in a scan.
The documentation for this struct was generated from the following file: