position3d
[Interface specifications]

Detailed Description

A robot that moves in 3-D.

The position3d interface is used to control mobile robot bases in 3D (i.e., pitch and roll are important).

#define PLAYER_POSITION3D_DATA_STATE   1
 Data subtype: state.
#define PLAYER_POSITION3D_DATA_GEOMETRY   2
 Data subtype: geometry.
#define PLAYER_POSITION3D_CMD_SET_VEL   1
 Command subtype: velocity control.
#define PLAYER_POSITION3D_CMD_SET_POS   2
 Command subtype: position control.
#define PLAYER_POSITION3D_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_POSITION3D_MOTOR_POWER   2
 Request/reply subtype: motor power.
#define PLAYER_POSITION3D_VELOCITY_MODE   3
 Request/reply subtype: velocity mode.
#define PLAYER_POSITION3D_POSITION_MODE   4
 Request/reply subtype: position mode.
#define PLAYER_POSITION3D_RESET_ODOM   5
 Request/reply subtype: reset odometry.
#define PLAYER_POSITION3D_SET_ODOM   6
 Request/reply subtype: set odometry.
#define PLAYER_POSITION3D_SPEED_PID   7
 Request/reply subtype: set speed PID params.
#define PLAYER_POSITION3D_POSITION_PID   8
 Request/reply subtype: set position PID params.
#define PLAYER_POSITION3D_SPEED_PROF   9
 Request/reply subtype: set speed profile params.
typedef struct
player_position3d_data 		player_position3d_data_t
 Data subtype: state.
typedef struct
player_position3d_cmd_pos 		player_position3d_cmd_pos_t
 Data subtype: state.
typedef struct
player_position3d_cmd_vel 		player_position3d_cmd_vel_t
 Data subtype: state.
typedef struct
player_position3d_geom 		player_position3d_geom_t
 Data subtype: state.
typedef struct
player_position3d_power_config 		player_position3d_power_config_t
 Data subtype: state.
typedef struct
player_position3d_position_mode_req 		player_position3d_position_mode_req_t
 Data subtype: state.
typedef struct
player_position3d_velocity_mode_config 		player_position3d_velocity_mode_config_t
 Data subtype: state.
typedef struct
player_position3d_set_odom_req 		player_position3d_set_odom_req_t
 Data subtype: state.
typedef struct
player_position3d_reset_odom_config 		player_position3d_reset_odom_config_t
 Data subtype: state.
typedef struct
player_position3d_speed_pid_req 		player_position3d_speed_pid_req_t
 Data subtype: state.
typedef struct
player_position3d_position_pid_req 		player_position3d_position_pid_req_t
 Data subtype: state.
typedef struct
player_position3d_speed_prof_req 		player_position3d_speed_prof_req_t
 Data subtype: state.
Last updated 12 September 2005 21:38:45