simulation
[Interface specifications]

Detailed Description

A robot simulator.

Player devices may either be real hardware or virtual devices generated by a simulator such as Stage or Gazebo. This interface provides direct access to a simulator.

This interface doesn't do much yet. It is in place to later support things like pausing and restarting the simulation clock, saving and loading, etc. It is documented because it is used by the stg_simulation driver; required by all stageclient drivers (stg_*).

Note: the Stage and Gazebo developers should confer on the best design for this interface. Suggestions welcome on playerstage-developers.


#define	PLAYER_SIMULATION_IDENTIFIER_MAXLEN 64
	The maximum length of a string indentifying a simulation object or object property.
#define	PLAYER_SIMULATION_REQ_SET_POSE2D 1
	Request/reply subtype: set 2D pose.
#define	PLAYER_SIMULATION_REQ_GET_POSE2D 2
	Request/reply subtype: get 2D pose.
#define	PLAYER_SIMULATION_REQ_SET_PROPERTY_INT 3
	Request/reply subtype: set integer property value.
#define	PLAYER_SIMULATION_REQ_GET_PROPERTY_INT 4
	Request/reply subtype: get integer property value.
#define	PLAYER_SIMULATION_REQ_SET_PROPERTY_FLOAT 5
	Request/reply subtype: set floating point property value.
#define	PLAYER_SIMULATION_REQ_GET_PROPERTY_FLOAT 6
	Request/reply subtype: get floating point property value.
#define	PLAYER_SIMULATION_REQ_SET_PROPERTY_STRING 7
	Request/reply subtype: set string property value.
#define	PLAYER_SIMULATION_REQ_GET_PROPERTY_STRING 8
	Request/reply subtype: get string property value.
typedef struct player_simulation_data	player_simulation_data_t
	The maximum length of a string indentifying a simulation object or object property.
typedef struct player_simulation_cmd	player_simulation_cmd_t
	The maximum length of a string indentifying a simulation object or object property.
typedef struct player_simulation_pose2d_req	player_simulation_pose2d_req_t
	The maximum length of a string indentifying a simulation object or object property.
typedef struct player_simulation_property_int_req	player_simulation_property_int_req_t
	The maximum length of a string indentifying a simulation object or object property.
typedef struct player_simulation_property_float_req	player_simulation_property_float_req_t
	The maximum length of a string indentifying a simulation object or object property.
typedef struct player_simulation_property_string_req	player_simulation_property_string_req_t
	The maximum length of a string indentifying a simulation object or object property.