playerc_ranger_t Struct Reference
ranger

Ranger proxy data. More...

`#include <playerc.h>`

## Public Attributes

playerc_device_t | info
| Device info; must be at the start of all device structures. More...
uint32_t | element_count
| Number of individual elements in the device. More...
double | min_angle
| Start angle of scans [rad]. More...
double | max_angle
| End angle of scans [rad]. More...
double | angular_res
| Scan resolution [rad]. More...
double | min_range
| Minimum range [m]. More...
double | max_range
| Maximum range [m]. More...
double | range_res
| Range resolution [m]. More...
double | frequency
| Scanning frequency [Hz]. More...
player_pose3d_t | device_pose
| Device geometry in the robot CS: pose gives the position and orientation, size gives the extent. More...
player_bbox3d_t | device_size
player_pose3d_t * | element_poses
| Geometry of each individual element in the device (e.g. More...
player_bbox3d_t * | element_sizes
uint32_t | ranges_count
| Number of ranges in a scan. More...
double * | ranges
| Range data [m]. More...
uint32_t | intensities_count
| Number of intensities in a scan. More...
double * | intensities
| Intensity data [m]. More...
uint32_t | bearings_count
| Number of scan bearings. More...
double * | bearings
| Scan bearings in the XY plane [radians]. More...
uint32_t | points_count
| Number of scan points. More...
player_point_3d_t * | points
| Scan points (x, y, z). More...

## Detailed Description

Ranger proxy data.

## Member Data Documentation

double playerc_ranger_t::angular_res

Scan resolution [rad].

May be unfilled.

double* playerc_ranger_t::bearings

Scan bearings in the XY plane [radians].

Note that for multi-element devices, these bearings will be from the pose of each element.

uint32_t playerc_ranger_t::bearings_count

Number of scan bearings.

player_pose3d_t playerc_ranger_t::device_pose

Device geometry in the robot CS: pose gives the position and orientation, size gives the extent.

These values are filled in by calling playerc_ranger_get_geom(), or from pose-stamped data.

uint32_t playerc_ranger_t::element_count

Number of individual elements in the device.

player_pose3d_t* playerc_ranger_t::element_poses

Geometry of each individual element in the device (e.g.

a single sonar sensor in a sonar array). These values are filled in by calling playerc_ranger_get_geom(), or from pose-stamped data.

double playerc_ranger_t::frequency

Scanning frequency [Hz].

May be unfilled.

playerc_device_t playerc_ranger_t::info

Device info; must be at the start of all device structures.

double* playerc_ranger_t::intensities

Intensity data [m].

Note that this data may require setting of the suitable property on the driver to before it will be filled. Possible properties include intns_on for laser devices and volt_on for IR devices.

uint32_t playerc_ranger_t::intensities_count

Number of intensities in a scan.

double playerc_ranger_t::max_angle

End angle of scans [rad].

May be unfilled.

double playerc_ranger_t::max_range

Maximum range [m].

May be unfilled.

double playerc_ranger_t::min_angle

Start angle of scans [rad].

May be unfilled.

double playerc_ranger_t::min_range

Minimum range [m].

Values below this are typically errors and should usually not be treated as valid data. May be unfilled.

player_point_3d_t* playerc_ranger_t::points

Scan points (x, y, z).

uint32_t playerc_ranger_t::points_count

Number of scan points.

double playerc_ranger_t::range_res

Range resolution [m].

May be unfilled.

double* playerc_ranger_t::ranges

Range data [m].

uint32_t playerc_ranger_t::ranges_count

Number of ranges in a scan.

The documentation for this struct was generated from the following file:

- playerc.h

Last updated 12 September 2005 21:38:45