A planar path-planner. More...

Detailed Description

A planar path-planner.

The planner interface provides control of a 2-D motion planner.

#define	PLAYER_PLANNER_DATA_STATE 1
	Data subtype: state.

#define	PLAYER_PLANNER_CMD_GOAL 1
	Command subtype: set goal position.

#define	PLAYER_PLANNER_CMD_START 2
	Command subtype: set start position.

#define	PLAYER_PLANNER_REQ_GET_WAYPOINTS 1
	Request subtype: get waypoints.

#define	PLAYER_PLANNER_REQ_ENABLE 2
	Request subtype: enable / disable planner.

typedef struct player_planner_data	player_planner_data_t
	Data: state (PLAYER_PLANNER_DATA_STATE) More...

typedef struct player_planner_cmd	player_planner_cmd_t
	Command: start or goal position (PLAYER_PLANNER_CMD_GOAL, PLAYER_PLANNER_CMD_START) More...

typedef struct player_planner_waypoints_req	player_planner_waypoints_req_t
	Request/reply: Get waypoints. More...

typedef struct player_planner_enable_req	player_planner_enable_req_t
	Request/reply: Enable/disable robot motion. More...

Typedef Documentation

◆ player_planner_cmd_t

typedef struct player_planner_cmd player_planner_cmd_t

Command: start or goal position (PLAYER_PLANNER_CMD_GOAL, PLAYER_PLANNER_CMD_START)

The planner interface accepts a new goal.

◆ player_planner_data_t

typedef struct player_planner_data player_planner_data_t

Data: state (PLAYER_PLANNER_DATA_STATE)

The planner interface reports the current execution state of the planner.

◆ player_planner_enable_req_t

typedef struct player_planner_enable_req player_planner_enable_req_t

Request/reply: Enable/disable robot motion.

To enable or disable the planner, send a PLAYER_PLANNER_REQ_ENABLE request. When disabled, the planner will stop the robot. When enabled, the planner should resume plan execution. Null response.

◆ player_planner_waypoints_req_t

typedef struct player_planner_waypoints_req player_planner_waypoints_req_t

Request/reply: Get waypoints.

To retrieve the list of waypoints, send a null PLAYER_PLANNER_REQ_GET_WAYPOINTS request.