position2d

The position2d proxy provides an interface to a mobile robot base, such as the ActiveMedia Pioneer series. More...

Detailed Description

The position2d proxy provides an interface to a mobile robot base, such as the ActiveMedia Pioneer series.

The proxy supports both differential drive robots (which are capable of forward motion and rotation) and omni-drive robots (which are capable of forward, sideways and rotational motion).

Classes
struct	playerc_position2d_t
	Position2d device data. More...

Functions
PLAYERC_EXPORT playerc_position2d_t *	playerc_position2d_create (playerc_client_t *client, int index)
	Create a position2d device proxy. More...
PLAYERC_EXPORT void	playerc_position2d_destroy (playerc_position2d_t *device)
	Destroy a position2d device proxy. More...
PLAYERC_EXPORT int	playerc_position2d_subscribe (playerc_position2d_t *device, int access)
	Subscribe to the position2d device.
PLAYERC_EXPORT int	playerc_position2d_unsubscribe (playerc_position2d_t *device)
	Un-subscribe from the position2d device.
PLAYERC_EXPORT int	playerc_position2d_enable (playerc_position2d_t *device, int enable)
	Enable/disable the motors.
PLAYERC_EXPORT int	playerc_position2d_get_geom (playerc_position2d_t *device)
	Get the position2d geometry. More...
PLAYERC_EXPORT int	playerc_position2d_set_cmd_vel (playerc_position2d_t *device, double vx, double vy, double va, int state)
	Set the target speed. More...
PLAYERC_EXPORT int	playerc_position2d_set_cmd_pose_with_vel (playerc_position2d_t *device, player_pose2d_t pos, player_pose2d_t vel, int state)
	Set the target pose with given motion vel.
PLAYERC_EXPORT int	playerc_position2d_set_cmd_vel_head (playerc_position2d_t *device, double vx, double vy, double pa, int state)
	Set the target speed and heading. More...
PLAYERC_EXPORT int	playerc_position2d_set_cmd_pose (playerc_position2d_t *device, double gx, double gy, double ga, int state)
	Set the target pose (gx, gy, ga) is the target pose in the odometric coordinate system. More...
PLAYERC_EXPORT int	playerc_position2d_set_cmd_car (playerc_position2d_t *device, double vx, double a)
	Set the target cmd for car like position.
PLAYERC_EXPORT int	playerc_position2d_set_odom (playerc_position2d_t *device, double ox, double oy, double oa)
	Set the odometry offset.

Function Documentation

playerc_position2d_create()

PLAYERC_EXPORT playerc_position2d_t* playerc_position2d_create	(	playerc_client_t *	client,
		int	index
	)

Create a position2d device proxy.

playerc_position2d_destroy()

PLAYERC_EXPORT void playerc_position2d_destroy

(

playerc_position2d_t *

device

)

Destroy a position2d device proxy.

playerc_position2d_get_geom()

PLAYERC_EXPORT int playerc_position2d_get_geom

(

playerc_position2d_t *

device

)

Get the position2d geometry.

The writes the result into the proxy rather than returning it to the caller.

playerc_position2d_set_cmd_pose()

PLAYERC_EXPORT int playerc_position2d_set_cmd_pose	(	playerc_position2d_t *	device,
		double	gx,
		double	gy,
		double	ga,
		int	state
	)

Set the target pose (gx, gy, ga) is the target pose in the odometric coordinate system.

playerc_position2d_set_cmd_vel()

PLAYERC_EXPORT int playerc_position2d_set_cmd_vel	(	playerc_position2d_t *	device,
		double	vx,
		double	vy,
		double	va,
		int	state
	)

Set the target speed.

vx : forward speed (m/s). vy : sideways speed (m/s); this field is used by omni-drive robots only. va : rotational speed (rad/s). All speeds are defined in the robot coordinate system.

playerc_position2d_set_cmd_vel_head()

PLAYERC_EXPORT int playerc_position2d_set_cmd_vel_head	(	playerc_position2d_t *	device,
		double	vx,
		double	vy,
		double	pa,
		int	state
	)

Set the target speed and heading.

vx : forward speed (m/s). vy : sideways speed (m/s); this field is used by omni-drive robots only. pa : rotational heading (rad). All speeds and angles are defined in the robot coordinate system.