4.12 truth

Synposis

The truth proxy can be used to get and set the pose of objects in the Stage simulator.

Data

struct playerc_truth_t : Truth proxy data.

playerc_device_t info;

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

double px, py, pa;

The object pose (world cs).

Methods

playerc_truth_t *playerc_truth_create(playerc_client_t *client, int index);

Create a truth proxy.

void playerc_truth_destroy(playerc_truth_t *device);

Destroy a truth proxy.

int playerc_truth_subscribe(playerc_truth_t *device, int access);

Subscribe to the truth device.

int playerc_truth_unsubscribe(playerc_truth_t *device);

Un-subscribe from the truth device.

int playerc_truth_get_pose(playerc_truth_t *device, double *px, double *py, double *pa);

Get the object pose. px, py, pa : the pose (global coordinates).

int playerc_truth_set_pose(playerc_truth_t *device, double px, double py, double pa);

Set the object pose. px, py, pa : the new pose (global coordinates).