6.8 bumper

Constants

#define PLAYER_BUMPER_MAX_SAMPLES 32

Maximum number of bumper samples

#define PLAYER_BUMPER_GET_GEOM_REQ ((uint8_t)1)

The request subtypes

Data

struct player_bumper_data : The gps interface gives current global position and heading information; the format is:

uint8_t bumper_count;

the number of valid bumper readings

uint8_t bumpers[PLAYER_BUMPER_MAX_SAMPLES];

array of bumper values

Commands

This interface accepts no commands.

Configuration: Query geometry

To query the geometry of a bumper array, give the following request, filling in only the subtype. The server will repond with the other fields filled in.

struct player_bumper_define : The geometry of a single bumper

int16_t x_offset, y_offset, th_offset;

the local pose of a single bumper in mm

uint16_t length;

length of the sensor in mm

uint16_t radius;

radius of curvature in mm - zero for straight lines

struct player_bumper_geom : The geometry for all bumpers.

uint8_t subtype;

Packet subtype. Must be PLAYER_BUMPER_GET_GEOM_REQ.

uint16_t bumper_count;

The number of valid bumper definitions.

player_bumper_define_t bumper_def[PLAYER_BUMPER_MAX_SAMPLES];

geometry of each bumper