planner
Interface specifications

A planar path-planner. More...

#define | PLAYER_PLANNER_DATA_STATE 1
| Data subtype: state.
#define | PLAYER_PLANNER_CMD_GOAL 1
| Command subtype: state.
#define | PLAYER_PLANNER_REQ_GET_WAYPOINTS 1
| Request subtype: get waypoints.
#define | PLAYER_PLANNER_REQ_ENABLE 2
| Request subtype: enable / disable planner.
typedef struct player_planner_data | player_planner_data_t
| Data: state (PLAYER_PLANNER_DATA_STATE) More...
typedef struct player_planner_cmd | player_planner_cmd_t
| Command: state (PLAYER_PLANNER_CMD_GOAL) More...
typedef struct player_planner_waypoints_req | player_planner_waypoints_req_t
| Request/reply: Get waypoints. More...
typedef struct player_planner_enable_req | player_planner_enable_req_t
| Request/reply: Enable/disable robot motion. More...

## Detailed Description

A planar path-planner.

The `planner` interface provides control of a 2-D motion planner.

## Typedef Documentation

typedef struct player_planner_cmd player_planner_cmd_t

Command: state (PLAYER_PLANNER_CMD_GOAL)

The `planner` interface accepts a new goal.

typedef struct player_planner_data player_planner_data_t

Data: state (PLAYER_PLANNER_DATA_STATE)

The `planner` interface reports the current execution state of the planner.

typedef struct player_planner_enable_req player_planner_enable_req_t

Request/reply: Enable/disable robot motion.

To enable or disable the planner, send a PLAYER_PLANNER_REQ_ENABLE request. When disabled, the planner will stop the robot. When enabled, the planner should resume plan execution. Null response.

typedef struct player_planner_waypoints_req player_planner_waypoints_req_t

Request/reply: Get waypoints.

To retrieve the list of waypoints, send a null PLAYER_PLANNER_REQ_GET_WAYPOINTS request.

Last updated 12 September 2005 21:38:45