position2d
Device proxies

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

## 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.

## 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).

## Function Documentation

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

Create a position2d device proxy.

PLAYERC_EXPORT void playerc_position2d_destroy | ( | playerc_position2d_t * | device | ) |

Destroy a position2d device proxy.

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_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_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_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.

Last updated 12 September 2005 21:38:45