4.11 sonar

Synopsis

The sonar proxy provides an interface to the sonar range sensors built into robots such as the ActiveMedia Pioneer series.

Data

struct playerc_sonar_t : Sonar proxy data.

playerc_device_t info;

Device info; must be at the start of all device structures.

int pose_count;

Number of pose values.

double poses[PLAYERC_SONAR_MAX_SAMPLES][3];

Pose of each sonar relative to robot (m, m, radians). This structure is filled by calling playerc_sonar_get_geom().

int scan_count;

Number of points in the scan.

double scan[PLAYERC_SONAR_MAX_SAMPLES];

Scan data: range (m).

Methods

playerc_sonar_t *playerc_sonar_create(playerc_client_t *client, int index);

Create a sonar proxy.

void playerc_sonar_destroy(playerc_sonar_t *device);

Destroy a sonar proxy.

int playerc_sonar_subscribe(playerc_sonar_t *device, int access);

Subscribe to the sonar device.

int playerc_sonar_unsubscribe(playerc_sonar_t *device);

Un-subscribe from the sonar device.

int playerc_sonar_get_geom(playerc_sonar_t *device);

Get the sonar geometry. The writes the result into the proxy rather than returning it to the caller.