sonar format
Data logging

sonar log format More...

sonar log format

The following type:subtype sonar messages can be logged:

- 1:1 (PLAYER_SONAR_DATA_RANGES) Range data. The format is:
  - range_count (int): number range values to follow
  - list of readings; for each reading:
    - range (float): in meters
- 1:2 (PLAYER_SONAR_DATA_GEOM) Geometry data. The format is:
  - pose_count (int): number of sonar poses to follow
  - list of tranducer poses; for each pose:
    - x (float): relative X position of transducer, in meters
    - y (float): relative Y position of transducer, in meters
    - a (float): relative yaw orientation of transducer, in radians
- 4:1 (PLAYER_SONAR_REQ_GET_GEOM) Geometry info. The format is:
  - pose_count (int): number of sonar poses to follow
  - list of tranducer poses; for each pose:
    - x (float): relative X position of transducer, in meters
    - y (float): relative Y position of transducer, in meters
    - a (float): relative yaw orientation of transducer, in radians

Last updated 12 September 2005 21:38:45