sonar
Interface specifications

DEPRECATED Array of ultrasonic rangers More...

#define | PLAYER_SONAR_REQ_GET_GEOM 1
| Request/reply subtype: get geometry.
#define | PLAYER_SONAR_REQ_POWER 2
| Request/reply subtype: power.
#define | PLAYER_SONAR_DATA_RANGES 1
| Data subtype: ranges.
#define | PLAYER_SONAR_DATA_GEOM 2
| Data subtype: geometry.
typedef struct player_sonar_data | player_sonar_data_t
| Data: ranges (PLAYER_SONAR_DATA_RANGES) More...
typedef struct player_sonar_geom | player_sonar_geom_t
| Data AND Request/reply: geometry. More...
typedef struct player_sonar_power_config | player_sonar_power_config_t
| Request/reply: Sonar power. More...

## Detailed Description

DEPRECATED Array of ultrasonic rangers

The `sonar` interface provides access to a collection of fixed range sensors, such as a sonar array.

This interface is deprecated. Use the ranger instead.

## Typedef Documentation

typedef struct player_sonar_data player_sonar_data_t

Data: ranges (PLAYER_SONAR_DATA_RANGES)

The `sonar` interface returns up to PLAYER_SONAR_MAX_SAMPLES range readings from a robot's sonars.

typedef struct player_sonar_geom player_sonar_geom_t

Data AND Request/reply: geometry.

To query the geometry of the sonar transducers, send a null PLAYER_SONAR_REQ_GET_GEOM request. Depending on the underlying driver, this message can also be sent as data with the subtype PLAYER_SONAR_DATA_GEOM.

typedef struct player_sonar_power_config player_sonar_power_config_t

Request/reply: Sonar power.

On some robots, the sonars can be turned on and off from software. To do so, send a PLAYER_SONAR_REQ_POWER request. Null response.

Last updated 12 September 2005 21:38:45