position2d log format More...

position2d log format

The following type:subtype position2d messages can be logged:

• 1:1 (PLAYER_POSITION2D_DATA_STATE) Odometry information. The format is:
  • px (float): X coordinate of the device's pose, in meters
  • py (float): Y coordinate of the device's pose, in meters
  • pa (float): yaw coordinate of the device's pose, in radians
  • vx (float): X coordinate of the device's velocity, in meters/sec
  • vy (float): Y coordinate of the device's velocity, in meters/sec
  • va (float): yaw coordinate of the device's velocity, in radians/sec
  • stall (int): Motor stall flag
• 4:1 (PLAYER_POSITION2D_REQ_GET_GEOM) Geometry info. The format is:
  • px (float): X coordinate of the offset of the device's center of rotation, in meters
  • py (float): Y coordinate of the offset of the device's center of rotation, in meters
  • pa (float): yaw coordinate of the offset of the device's center of rotation, in radians
  • sx (float): The device's length, in meters
  • sy (float): The device's width, in meters