6.26 truth

Synopsis

The truth interface provides access to the absolute state of entities. Note that, unless your robot has superpowers, truth devices are only avilable in Stage.

Constants

#define PLAYER_TRUTH_GET_POSE 0x00
#define PLAYER_TRUTH_SET_POSE 0x01
#define PLAYER_TRUTH_SET_POSE_ON_ROOT 0x02
#define PLAYER_TRUTH_GET_FIDUCIAL_ID 0x03
#define PLAYER_TRUTH_SET_FIDUCIAL_ID 0x04

Request packet subtypes.

Data

struct player_truth_data : The truth interface returns data concerning the current state of an entity; the format is:

int32_t px, py, pa;

Object pose in world cs (mm, mm, degrees).

Commands

This interface accepts no commands.

Configuration: Get/set pose

struct player_truth_pose : To get the pose of an object, use the following request, filling in only the subtype with PLAYER_TRUTH_GET_POSE. The server will respond with the other fields filled in. To set the pose, set the subtype to PLAYER_TRUTH_SET_POS and fill in the rest of the fields with the new pose.

uint8_t subtype;

Packet subtype. Must be either PLAYER_TRUTH_GET_POSE or PLAYER_TRUTH_SET_POSE or PLAYER_TRUTH_SET_POSE_ON_ROOT. The last option places the object on the background and sets its pose. Great for repositioning pucks that have been picked up.

int32_t px, py, pa;

Object pose in world cs (mm, mm, degrees).

Configuration: Get/set fiducial ID number

struct player_truth_fiducial_id : To get the fiducial ID of an object, use the following request, filling in only the subtype with PLAYER_TRUTH_GET_FIDUCIAL_ID. The server will respond with the ID field filled in. To set the fiducial ID, set the subtype to PLAYER_TRUTH_SET_FIDUCIAL_ID and fill in the ID field with the desired value

uint8_t subtype;

Packet subtype. Must be either PLAYER_TRUTH_GET_FIDUCIAL_ID or PLAYER_TRUTH_SET_FIDUCIAL_ID

int16_t id;

the fiducial ID