position3d
Device proxies

The position3d proxy provides an interface to a mobile robot base, such as the Segway RMP series. More...

## Classes

struct | playerc_position3d_t
| Position3d device data. More...

## Functions

PLAYERC_EXPORT playerc_position3d_t * | playerc_position3d_create (playerc_client_t *client, int index)
| Create a position3d device proxy. More...
PLAYERC_EXPORT void | playerc_position3d_destroy (playerc_position3d_t *device)
| Destroy a position3d device proxy. More...
PLAYERC_EXPORT int | playerc_position3d_subscribe (playerc_position3d_t *device, int access)
| Subscribe to the position3d device.
PLAYERC_EXPORT int | playerc_position3d_unsubscribe (playerc_position3d_t *device)
| Un-subscribe from the position3d device.
PLAYERC_EXPORT int | playerc_position3d_enable (playerc_position3d_t *device, int enable)
| Enable/disable the motors.
PLAYERC_EXPORT int | playerc_position3d_get_geom (playerc_position3d_t *device)
| Get the position3d geometry. More...
PLAYERC_EXPORT int | playerc_position3d_set_velocity (playerc_position3d_t *device, double vx, double vy, double vz, double vr, double vp, double vt, int state)
| Set the target speed. More...
PLAYERC_EXPORT int | playerc_position3d_set_speed (playerc_position3d_t *device, double vx, double vy, double vz, int state)
| For compatibility with old position3d interface.
PLAYERC_EXPORT int | playerc_position3d_set_pose (playerc_position3d_t *device, double gx, double gy, double gz, double gr, double gp, double gt)
| Set the target pose (gx, gy, ga, gr, gp, gt) is the target pose in the odometric coordinate system. More...
PLAYERC_EXPORT int | playerc_position3d_set_pose_with_vel (playerc_position3d_t *device, player_pose3d_t pos, player_pose3d_t vel)
| Set the target pose (pos,vel) define desired position and motion speed.
PLAYERC_EXPORT int | playerc_position3d_set_cmd_pose (playerc_position3d_t *device, double gx, double gy, double gz)
| For compatibility with old position3d interface.
PLAYERC_EXPORT int | playerc_position3d_set_vel_mode (playerc_position3d_t *device, int mode)
| Set the velocity mode. More...
PLAYERC_EXPORT int | playerc_position3d_set_odom (playerc_position3d_t *device, double ox, double oy, double oz, double oroll, double opitch, double oyaw)
| Set the odometry offset.
PLAYERC_EXPORT int | playerc_position3d_reset_odom (playerc_position3d_t *device)
| Reset the odometry offset.

## Detailed Description

The position3d proxy provides an interface to a mobile robot base, such as the Segway RMP 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).

## Function Documentation

PLAYERC_EXPORT playerc_position3d_t* playerc_position3d_create | ( | playerc_client_t * | client,
|  | int | index
| ) |  |

Create a position3d device proxy.

PLAYERC_EXPORT void playerc_position3d_destroy | ( | playerc_position3d_t * | device | ) |

Destroy a position3d device proxy.

PLAYERC_EXPORT int playerc_position3d_get_geom | ( | playerc_position3d_t * | device | ) |

Get the position3d geometry.

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

PLAYERC_EXPORT int playerc_position3d_set_pose | ( | playerc_position3d_t * | device,
|  | double | gx,
|  | double | gy,
|  | double | gz,
|  | double | gr,
|  | double | gp,
|  | double | gt
| ) |  |

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

PLAYERC_EXPORT int playerc_position3d_set_vel_mode | ( | playerc_position3d_t * | device,
|  | int | mode
| ) |  |

Set the velocity mode.

This is driver dependent.

PLAYERC_EXPORT int playerc_position3d_set_velocity | ( | playerc_position3d_t * | device,
|  | double | vx,
|  | double | vy,
|  | double | vz,
|  | double | vr,
|  | double | vp,
|  | double | vt,
|  | int | state
| ) |  |

Set the target speed.

vx : forward speed (m/s). vy : sideways speed (m/s); vz : vertical speed (m/s). vr : roll speed (rad/s) . vp : pitch speed (rad/s) . vt : theta speed (rad/s). All speeds are defined in the robot coordinate system.

Last updated 12 September 2005 21:38:45