player_interfaces.h
1 /* START OF AUTOGENERATED CODE */
2 /* This file or section was automatically generated by playerinterfacegen.py
3 To modify the interfaces in this file please edit their interface definition in libplayerinterface/interfaces/ */
4 
7 #define PLAYER_PLAYER_CODE 1
8 
11 #define PLAYER_PLAYER_STRING "player"
12 
13 // /////////////////////////////////////////////////////////////////////////////
32 #define PLAYER_PLAYER_REQ_DEVLIST 1
33 
35 #define PLAYER_PLAYER_REQ_DRIVERINFO 2
36 
38 #define PLAYER_PLAYER_REQ_DEV 3
39 
46 #define PLAYER_PLAYER_REQ_DATA 4
47 
48 
49 #define PLAYER_PLAYER_REQ_DATAMODE 5
50 
51 
52 #define PLAYER_PLAYER_REQ_AUTH 7
53 
54 
55 #define PLAYER_PLAYER_REQ_NAMESERVICE 8
56 
57 
58 #define PLAYER_PLAYER_REQ_ADD_REPLACE_RULE 10
59 
60 
61 #define PLAYER_PLAYER_SYNCH_OK 1
62 
63 
64 #define PLAYER_PLAYER_SYNCH_OVERFLOW 2
65 
66 
67 
69 #define PLAYER_OPEN_MODE 1
70 
71 #define PLAYER_CLOSE_MODE 2
72 
73 #define PLAYER_ERROR_MODE 3
74 
75 
78 #define PLAYER_DATAMODE_PUSH 1
79 
83 #define PLAYER_DATAMODE_PULL 2
84 
85 
86 
89 #define PLAYER_PLAYER_MSG_REPLACE_RULE_ACCEPT 0
90 #define PLAYER_PLAYER_MSG_REPLACE_RULE_REPLACE 1
91 #define PLAYER_PLAYER_MSG_REPLACE_RULE_IGNORE 2
92 
99 typedef struct player_device_devlist
100 {
102  uint32_t devices_count;
106 
114 {
122 
140 typedef struct player_device_req
141 {
145  uint8_t access;
151 
152 
160 {
162  uint8_t mode;
163 
165 
166 
199 {
201  uint32_t auth_key_count;
204 
206 
207 
213 {
215  uint32_t name_count;
219  uint16_t port;
221 
233 {
235  int32_t interf;
237  int32_t index;
239  int32_t type;
241  int32_t subtype;
243  int32_t replace ;
245 
246 
252 #define PLAYER_POWER_CODE 2
253 
256 #define PLAYER_POWER_STRING "power"
257 
258 // /////////////////////////////////////////////////////////////////////////////
274 #define PLAYER_POWER_DATA_STATE 1
275 
277 #define PLAYER_POWER_REQ_SET_CHARGING_POLICY_REQ 1
278 
279 
280 
282 #define PLAYER_POWER_MASK_VOLTS 1
283 #define PLAYER_POWER_MASK_WATTS 2
284 #define PLAYER_POWER_MASK_JOULES 4
285 #define PLAYER_POWER_MASK_PERCENT 8
286 #define PLAYER_POWER_MASK_CHARGING 16
287 
291 typedef struct player_power_data
292 {
296  uint32_t valid;
297 
299  float volts;
301  float percent;
303  float joules;
306  float watts;
311  int32_t charging;
312 
314 
315 
321 {
324  uint8_t enable_input;
327  uint8_t enable_output;
329 
330 
331 
337 #define PLAYER_GRIPPER_CODE 3
338 
341 #define PLAYER_GRIPPER_STRING "gripper"
342 
343 // /////////////////////////////////////////////////////////////////////////////
365 #define PLAYER_GRIPPER_DATA_STATE 1
366 
368 #define PLAYER_GRIPPER_REQ_GET_GEOM 1
369 
373 #define PLAYER_GRIPPER_CMD_OPEN 1
374 
378 #define PLAYER_GRIPPER_CMD_CLOSE 2
379 
383 #define PLAYER_GRIPPER_CMD_STOP 3
384 
388 #define PLAYER_GRIPPER_CMD_STORE 4
389 
394 #define PLAYER_GRIPPER_CMD_RETRIEVE 5
395 
396 
397 
399 #define PLAYER_GRIPPER_STATE_OPEN 1
400 
401 #define PLAYER_GRIPPER_STATE_CLOSED 2
402 
403 #define PLAYER_GRIPPER_STATE_MOVING 3
404 
405 #define PLAYER_GRIPPER_STATE_ERROR 4
406 
407 
418 typedef struct player_gripper_data
419 {
421  uint8_t state;
423  uint32_t beams;
425  uint8_t stored;
427 
433 typedef struct player_gripper_geom
434 {
443  uint8_t num_beams;
445  uint8_t capacity;
447 
448 
449 
450 
451 
452 
453 
459 #define PLAYER_POSITION2D_CODE 4
460 
463 #define PLAYER_POSITION2D_STRING "position2d"
464 
465 // /////////////////////////////////////////////////////////////////////////////
483 #define PLAYER_POSITION2D_REQ_GET_GEOM 1
484 
496 #define PLAYER_POSITION2D_REQ_MOTOR_POWER 2
497 
522 #define PLAYER_POSITION2D_REQ_VELOCITY_MODE 3
523 
529 #define PLAYER_POSITION2D_REQ_POSITION_MODE 4
530 
535 #define PLAYER_POSITION2D_REQ_SET_ODOM 5
536 
541 #define PLAYER_POSITION2D_REQ_RESET_ODOM 6
542 
548 #define PLAYER_POSITION2D_REQ_SPEED_PID 7
549 
556 #define PLAYER_POSITION2D_REQ_POSITION_PID 8
557 
562 #define PLAYER_POSITION2D_REQ_SPEED_PROF 9
563 
568 #define PLAYER_POSITION2D_DATA_STATE 1
569 
574 #define PLAYER_POSITION2D_DATA_GEOM 2
575 
581 #define PLAYER_POSITION2D_CMD_VEL 1
582 
588 #define PLAYER_POSITION2D_CMD_POS 2
589 
594 #define PLAYER_POSITION2D_CMD_CAR 3
595 
599 #define PLAYER_POSITION2D_CMD_VEL_HEAD 4
600 
601 
602 
603 
604 
607 {
613  uint8_t stall;
615 
618 {
622  uint8_t state;
624 
627 {
633  uint8_t state;
635 
638 {
640  double velocity;
642  double angle;
644 
647 {
649  double velocity;
651  double angle;
653 
656 {
662 
665 {
667  uint8_t state;
669 
672 {
674  uint32_t value;
676 
677 
680 {
682  uint32_t state;
684 
687 {
691 
694 {
696  float kp;
698  float ki;
700  float kd;
702 
705 {
707  float kp;
709  float ki;
711  float kd;
713 
716 {
718  float speed;
720  float acc;
731 #define PLAYER_SONAR_CODE 5
732 
735 #define PLAYER_SONAR_STRING "sonar"
736 
737 // /////////////////////////////////////////////////////////////////////////////
755 #define PLAYER_SONAR_REQ_GET_GEOM 1
756 
758 #define PLAYER_SONAR_REQ_POWER 2
759 
761 #define PLAYER_SONAR_DATA_RANGES 1
762 
764 #define PLAYER_SONAR_DATA_GEOM 2
765 
766 
767 
772 typedef struct player_sonar_data
773 {
775  uint32_t ranges_count;
777  float *ranges;
779 
786 typedef struct player_sonar_geom
787 {
789  uint32_t poses_count;
793 
799 {
801  uint8_t state;
803 
812 #define PLAYER_LASER_CODE 6
813 
816 #define PLAYER_LASER_STRING "laser"
817 
818 // /////////////////////////////////////////////////////////////////////////////
848 #define PLAYER_LASER_DATA_SCAN 1
849 
851 #define PLAYER_LASER_DATA_SCANPOSE 2
852 
854 #define PLAYER_LASER_DATA_SCANANGLE 3
855 
857 #define PLAYER_LASER_REQ_GET_GEOM 1
858 
860 #define PLAYER_LASER_REQ_SET_CONFIG 2
861 
863 #define PLAYER_LASER_REQ_GET_CONFIG 3
864 
866 #define PLAYER_LASER_REQ_POWER 4
867 
869 #define PLAYER_LASER_REQ_GET_ID 5
870 
872 #define PLAYER_LASER_REQ_SET_FILTER 6
873 
874 
875 
877 #define PLAYER_LASER_MAX_FILTER_PARAMS 8
878 #define PLAYER_LASER_FILTER_MEDIAN 1
879 #define PLAYER_LASER_FILTER_EDGE 2
880 #define PLAYER_LASER_FILTER_RANGE 3
881 #define PLAYER_LASER_FILTER_MEAN 4
882 
886 typedef struct player_laser_data
887 {
889  float min_angle;
891  float max_angle;
893  float resolution;
895  float max_range;
897  uint32_t ranges_count;
899  float *ranges;
901  uint32_t intensity_count;
903  uint8_t *intensity;
905  uint32_t id;
907 
913 {
919 
924 {
926  float max_range;
928  uint32_t ranges_count;
930  float *ranges;
932  uint32_t angles_count;
934  float *angles;
936  uint32_t intensity_count;
938  uint8_t *intensity;
940  uint32_t id;
942 
943 
948 typedef struct player_laser_geom
949 {
955 
964 typedef struct player_laser_config
965 {
967  float min_angle;
969  float max_angle;
971  float resolution;
973  float max_range;
975  float range_res;
977  uint8_t intensity;
981 
987 {
989  uint8_t state;
991 
997 {
999  uint32_t serial_number;
1001 
1020 {
1022  uint8_t filter_type;
1028 
1029 
1030 
1036 #define PLAYER_BLOBFINDER_CODE 7
1037 
1040 #define PLAYER_BLOBFINDER_STRING "blobfinder"
1041 
1042 // /////////////////////////////////////////////////////////////////////////////
1058 #define PLAYER_BLOBFINDER_DATA_BLOBS 1
1059 
1060 
1061 #define PLAYER_BLOBFINDER_REQ_SET_COLOR 1
1062 
1063 
1064 #define PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS 2
1065 
1066 
1067 #define PLAYER_BLOBFINDER_REQ_GET_COLOR 3
1068 
1069 
1072 {
1074  uint32_t id;
1077  uint32_t color;
1079  uint32_t area;
1081  uint32_t x;
1083  uint32_t y;
1085  uint32_t left;
1087  uint32_t right;
1089  uint32_t top;
1091  uint32_t bottom;
1093  float range;
1095 
1100 {
1102  uint32_t width;
1104  uint32_t height;
1106  uint32_t blobs_count;
1110 
1111 
1122 {
1126  uint32_t channel;
1128  uint32_t rmin;
1130  uint32_t rmax;
1132  uint32_t gmin;
1134  uint32_t gmax;
1136  uint32_t bmin;
1138  uint32_t bmax;
1140 
1141 
1157 {
1159  int32_t brightness;
1161  int32_t contrast;
1166  int32_t colormode;
1168  int32_t autogain;
1170 
1171 
1172 
1178 #define PLAYER_PTZ_CODE 8
1179 
1182 #define PLAYER_PTZ_STRING "ptz"
1183 
1184 // /////////////////////////////////////////////////////////////////////////////
1199 #define PLAYER_PTZ_REQ_GENERIC 1
1200 
1202 #define PLAYER_PTZ_REQ_CONTROL_MODE 2
1203 
1205 #define PLAYER_PTZ_REQ_GEOM 4
1206 
1208 #define PLAYER_PTZ_REQ_STATUS 5
1209 
1211 #define PLAYER_PTZ_DATA_STATE 1
1212 
1214 #define PLAYER_PTZ_DATA_GEOM 2
1215 
1217 #define PLAYER_PTZ_CMD_STATE 1
1218 
1219 
1220 
1222 #define PLAYER_PTZ_VELOCITY_CONTROL 0
1223 
1224 #define PLAYER_PTZ_POSITION_CONTROL 1
1225 
1226 
1231 typedef struct player_ptz_data
1232 {
1234  float pan;
1236  float tilt;
1238  float zoom;
1240  float panspeed;
1242  float tiltspeed;
1244  uint32_t status;
1246 
1251 typedef struct player_ptz_cmd
1252 {
1254  float pan;
1256  float tilt;
1258  float zoom;
1260  float panspeed;
1262  float tiltspeed;
1264 
1269 {
1270  uint32_t status;
1272 
1276 typedef struct player_ptz_geom
1277 {
1283 
1291 {
1293  uint32_t config_count;
1295  uint32_t *config;
1297 
1305 {
1308  uint32_t mode;
1310 
1311 
1317 #define PLAYER_AUDIO_CODE 9
1318 
1321 #define PLAYER_AUDIO_STRING "audio"
1322 
1323 // /////////////////////////////////////////////////////////////////////////////
1347 #define PLAYER_AUDIO_DATA_WAV_REC 1
1348 
1352 #define PLAYER_AUDIO_DATA_SEQ 2
1353 
1357 #define PLAYER_AUDIO_DATA_MIXER_CHANNEL 3
1358 
1362 #define PLAYER_AUDIO_DATA_STATE 4
1363 
1367 #define PLAYER_AUDIO_CMD_WAV_PLAY 1
1368 
1372 #define PLAYER_AUDIO_CMD_WAV_STREAM_REC 2
1373 
1377 #define PLAYER_AUDIO_CMD_SAMPLE_PLAY 3
1378 
1382 #define PLAYER_AUDIO_CMD_SEQ_PLAY 4
1383 
1387 #define PLAYER_AUDIO_CMD_MIXER_CHANNEL 5
1388 
1392 #define PLAYER_AUDIO_REQ_WAV_REC 1
1393 
1397 #define PLAYER_AUDIO_REQ_SAMPLE_LOAD 2
1398 
1402 #define PLAYER_AUDIO_REQ_SAMPLE_RETRIEVE 3
1403 
1407 #define PLAYER_AUDIO_REQ_SAMPLE_REC 4
1408 
1412 #define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LIST 5
1413 
1417 #define PLAYER_AUDIO_REQ_MIXER_CHANNEL_LEVEL 6
1418 
1419 
1420 
1423 #define PLAYER_AUDIO_STATE_STOPPED 0x00
1424 #define PLAYER_AUDIO_STATE_PLAYING 0x01
1425 #define PLAYER_AUDIO_STATE_RECORDING 0x02
1426 
1430 #define PLAYER_AUDIO_DESCRIPTION_BITS 0xFF
1431 #define PLAYER_AUDIO_BITS 0x03
1432 
1433 #define PLAYER_AUDIO_8BIT 0
1434 
1435 #define PLAYER_AUDIO_16BIT 1
1436 
1437 #define PLAYER_AUDIO_24BIT 2
1438 
1439 #define PLAYER_AUDIO_MONO 0
1440 
1441 #define PLAYER_AUDIO_STEREO 4
1442 
1443 #define PLAYER_AUDIO_FREQ 0x18
1444 #define PLAYER_AUDIO_FREQ_44k 0
1445 #define PLAYER_AUDIO_FREQ_11k 8
1446 #define PLAYER_AUDIO_FREQ_22k 16
1447 #define PLAYER_AUDIO_FREQ_48k 24
1448 
1450 #define PLAYER_AUDIO_FORMAT_BITS 0xFF00
1451 
1452 #define PLAYER_AUDIO_FORMAT_NULL 0x0000
1453 #define PLAYER_AUDIO_FORMAT_RAW 0x0100
1454 #define PLAYER_AUDIO_FORMAT_MP3 0x0200
1455 #define PLAYER_AUDIO_FORMAT_OGG 0x0300
1456 #define PLAYER_AUDIO_FORMAT_FLAC 0x0400
1457 #define PLAYER_AUDIO_FORMAT_AAC 0x0500
1458 
1459 
1460 
1466 typedef struct player_audio_wav
1467 {
1469  uint32_t data_count;
1471  uint8_t *data;
1473  uint32_t format;
1475 
1476 
1485 {
1487  float freq;
1489  float duration;
1491  float amplitude;
1495 
1496 
1502 typedef struct player_audio_seq
1503 {
1505  uint32_t tones_count;
1509 
1510 
1517 {
1519  float amplitude;
1523  uint32_t index;
1525 
1526 
1527 
1534 {
1536  uint32_t channels_count;
1540 
1541 
1542 
1544 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_INPUT 1
1545 
1546 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_OUTPUT 2
1547 
1548 #define PLAYER_AUDIO_MIXER_CHANNEL_TYPE_SPECIAL 4
1549 
1556 {
1558  uint32_t name_count;
1560  char *name;
1562  uint8_t caps;
1564 
1565 
1566 
1573 {
1575  uint32_t details_count;
1581  int32_t default_input;
1583 
1584 
1585 
1592 typedef struct player_audio_sample
1593 {
1597  int32_t index;
1599 
1606 {
1608  int32_t index;
1610 
1617 {
1620  int32_t index;
1622  uint32_t length;
1624 
1631 typedef struct player_audio_state
1632 {
1634  uint32_t state;
1636 
1637 
1643 #define PLAYER_FIDUCIAL_CODE 10
1644 
1647 #define PLAYER_FIDUCIAL_STRING "fiducial"
1648 
1649 // /////////////////////////////////////////////////////////////////////////////
1666 #define PLAYER_FIDUCIAL_DATA_SCAN 1
1667 
1668 
1669 #define PLAYER_FIDUCIAL_REQ_GET_GEOM 1
1670 
1671 
1672 #define PLAYER_FIDUCIAL_REQ_GET_FOV 2
1673 
1674 
1675 #define PLAYER_FIDUCIAL_REQ_SET_FOV 3
1676 
1677 
1678 #define PLAYER_FIDUCIAL_REQ_GET_ID 7
1679 
1680 
1681 #define PLAYER_FIDUCIAL_REQ_SET_ID 8
1682 
1683 
1688 typedef struct player_fiducial_item
1689 {
1692  int32_t id;
1698 
1699 
1703 typedef struct player_fiducial_data
1704 {
1709 
1711 
1717 typedef struct player_fiducial_geom
1718 {
1726 
1733 typedef struct player_fiducial_fov
1734 {
1736  float min_range;
1738  float max_range;
1740  float view_angle;
1742 
1758 typedef struct player_fiducial_id
1759 {
1761  uint32_t id;
1763 
1764 
1765 
1771 #define PLAYER_SPEECH_CODE 12
1772 
1775 #define PLAYER_SPEECH_STRING "speech"
1776 
1777 // /////////////////////////////////////////////////////////////////////////////
1792 #define PLAYER_SPEECH_CMD_SAY 1
1793 
1794 
1795 
1800 typedef struct player_speech_cmd
1801 {
1803  uint32_t string_count;
1805  char *string;
1807 
1808 
1809 
1815 #define PLAYER_GPS_CODE 13
1816 
1819 #define PLAYER_GPS_STRING "gps"
1820 
1821 // /////////////////////////////////////////////////////////////////////////////
1837 #define PLAYER_GPS_DATA_STATE 1
1838 
1839 
1844 typedef struct player_gps_data
1845 {
1847  uint32_t time_sec;
1849  uint32_t time_usec;
1853  int32_t latitude;
1857  int32_t longitude;
1860  int32_t altitude;
1862  double utm_e;
1864  double utm_n;
1866  uint32_t quality;
1868  uint32_t num_sats;
1870  uint32_t hdop;
1872  uint32_t vdop;
1874  double err_horz;
1876  double err_vert;
1878 
1879 
1880 
1886 #define PLAYER_BUMPER_CODE 14
1887 
1890 #define PLAYER_BUMPER_STRING "bumper"
1891 
1892 // /////////////////////////////////////////////////////////////////////////////
1908 #define PLAYER_BUMPER_DATA_STATE 1
1909 
1910 
1911 #define PLAYER_BUMPER_DATA_GEOM 2
1912 
1913 
1914 #define PLAYER_BUMPER_REQ_GET_GEOM 1
1915 
1916 
1920 typedef struct player_bumper_data
1921 {
1923  uint32_t bumpers_count;
1925  uint8_t *bumpers;
1927 
1929 typedef struct player_bumper_define
1930 {
1934  float length;
1936  float radius;
1938 
1946 typedef struct player_bumper_geom
1947 {
1953 
1954 
1955 
1961 #define PLAYER_DIO_CODE 20
1962 
1965 #define PLAYER_DIO_STRING "dio"
1966 
1967 // /////////////////////////////////////////////////////////////////////////////
1982 #define PLAYER_DIO_DATA_VALUES 1
1983 
1984 
1985 #define PLAYER_DIO_CMD_VALUES 1
1986 
1987 
1992 typedef struct player_dio_data
1993 {
1995  uint32_t count;
1997  uint32_t bits;
1999 
2004 typedef struct player_dio_cmd
2005 {
2007  uint32_t count;
2009  uint32_t digout;
2011 
2020 #define PLAYER_AIO_CODE 21
2021 
2024 #define PLAYER_AIO_STRING "aio"
2025 
2026 // /////////////////////////////////////////////////////////////////////////////
2041 #define PLAYER_AIO_CMD_STATE 1
2042 
2043 
2044 #define PLAYER_AIO_DATA_STATE 1
2045 
2046 
2051 typedef struct player_aio_data
2052 {
2054  uint32_t voltages_count;
2056  float *voltages;
2058 
2062 typedef struct player_aio_cmd
2063 {
2065  uint32_t id;
2067  float voltage;
2069 
2070 
2076 #define PLAYER_IR_CODE 22
2077 
2080 #define PLAYER_IR_STRING "ir"
2081 
2082 // /////////////////////////////////////////////////////////////////////////////
2100 #define PLAYER_IR_REQ_POSE 1
2101 
2103 #define PLAYER_IR_REQ_POWER 2
2104 
2106 #define PLAYER_IR_DATA_RANGES 1
2107 
2108 
2109 
2113 typedef struct player_ir_data
2114 {
2116  uint32_t voltages_count;
2118  float *voltages;
2120  uint32_t ranges_count;
2122  float *ranges;
2124 
2128 typedef struct player_ir_pose
2129 {
2131  uint32_t poses_count;
2135 
2140 typedef struct player_ir_power_req
2141 {
2143  uint8_t state;
2145 
2146 
2152 #define PLAYER_WIFI_CODE 23
2153 
2156 #define PLAYER_WIFI_STRING "wifi"
2157 
2158 // /////////////////////////////////////////////////////////////////////////////
2174 #define PLAYER_WIFI_REQ_MAC 1
2175 
2177 #define PLAYER_WIFI_REQ_IWSPY_ADD 2
2178 
2180 #define PLAYER_WIFI_REQ_IWSPY_DEL 3
2181 
2183 #define PLAYER_WIFI_REQ_IWSPY_PING 4
2184 
2186 #define PLAYER_WIFI_DATA_STATE 1
2187 
2188 
2189 
2191 #define PLAYER_WIFI_QUAL_DBM 1
2192 
2193 #define PLAYER_WIFI_QUAL_REL 2
2194 
2195 #define PLAYER_WIFI_QUAL_UNKNOWN 3
2196 
2198 #define PLAYER_WIFI_MODE_UNKNOWN 0
2199 
2200 #define PLAYER_WIFI_MODE_AUTO 1
2201 
2202 #define PLAYER_WIFI_MODE_ADHOC 2
2203 
2204 #define PLAYER_WIFI_MODE_INFRA 3
2205 
2206 #define PLAYER_WIFI_MODE_MASTER 4
2207 
2208 #define PLAYER_WIFI_MODE_REPEAT 5
2209 
2210 #define PLAYER_WIFI_MODE_SECOND 6
2211 
2217 typedef struct player_wifi_link
2218 {
2220  uint32_t mac_count;
2221  uint8_t mac[32];
2223  uint32_t ip_count;
2224  uint8_t ip[32];
2226  uint32_t essid_count;
2227  uint8_t essid[32];
2229  uint32_t mode;
2231  uint32_t freq;
2233  uint32_t encrypt;
2235  uint32_t qual;
2237  uint32_t level;
2239  uint32_t noise;
2241 
2245 typedef struct player_wifi_data
2246 {
2248  uint32_t links_count;
2252  uint32_t throughput;
2254  uint32_t bitrate;
2256  uint32_t mode;
2258  uint32_t qual_type;
2260  uint32_t maxqual;
2262  uint32_t maxlevel;
2264  uint32_t maxnoise;
2266  char ap[32];
2268 
2270 typedef struct player_wifi_mac_req
2271 {
2273  uint32_t mac_count;
2274  uint8_t mac[32];
2276 
2279 {
2281  char address[32];
2283 
2284 
2285 
2291 #define PLAYER_LOCALIZE_CODE 25
2292 
2295 #define PLAYER_LOCALIZE_STRING "localize"
2296 
2297 // /////////////////////////////////////////////////////////////////////////////
2318 #define PLAYER_LOCALIZE_DATA_HYPOTHS 1
2319 
2321 #define PLAYER_LOCALIZE_REQ_SET_POSE 1
2322 
2324 #define PLAYER_LOCALIZE_REQ_GET_PARTICLES 2
2325 
2326 
2327 
2334 {
2338  double cov[3];
2340  double alpha;
2342 
2347 typedef struct player_localize_data
2348 {
2350  uint32_t pending_count;
2354  uint32_t hypoths_count;
2358 
2364 {
2369  double cov[3];
2371 
2374 {
2378  double alpha;
2380 
2387 {
2391  double variance;
2397 
2398 
2404 #define PLAYER_POSITION3D_CODE 30
2405 
2408 #define PLAYER_POSITION3D_STRING "position3d"
2409 
2410 // /////////////////////////////////////////////////////////////////////////////
2426 #define PLAYER_POSITION3D_DATA_STATE 1
2427 
2429 #define PLAYER_POSITION3D_DATA_GEOMETRY 2
2430 
2432 #define PLAYER_POSITION3D_CMD_SET_VEL 1
2433 
2435 #define PLAYER_POSITION3D_CMD_SET_POS 2
2436 
2438 #define PLAYER_POSITION3D_REQ_GET_GEOM 1
2439 
2441 #define PLAYER_POSITION3D_REQ_MOTOR_POWER 2
2442 
2444 #define PLAYER_POSITION3D_REQ_VELOCITY_MODE 3
2445 
2447 #define PLAYER_POSITION3D_REQ_POSITION_MODE 4
2448 
2450 #define PLAYER_POSITION3D_REQ_RESET_ODOM 5
2451 
2453 #define PLAYER_POSITION3D_REQ_SET_ODOM 6
2454 
2456 #define PLAYER_POSITION3D_REQ_SPEED_PID 7
2457 
2459 #define PLAYER_POSITION3D_REQ_POSITION_PID 8
2460 
2462 #define PLAYER_POSITION3D_REQ_SPEED_PROF 9
2463 
2464 
2465 
2471 {
2477  uint8_t stall;
2479 
2485 {
2491  uint8_t state;
2493 
2499 {
2503  uint8_t state;
2505 
2510 {
2516 
2528 {
2530  uint8_t state;
2532 
2539 {
2541  uint32_t value;
2543 
2552 {
2554  uint32_t value;
2556 
2562 {
2566 
2577 {
2579  float kp;
2581  float ki;
2583  float kd;
2585 
2591 {
2593  float kp;
2595  float ki;
2597  float kd;
2599 
2605 {
2607  float speed;
2609  float acc;
2611 
2612 
2613 
2619 #define PLAYER_SIMULATION_CODE 31
2620 
2623 #define PLAYER_SIMULATION_STRING "simulation"
2624 
2625 // /////////////////////////////////////////////////////////////////////////////
2649 #define PLAYER_SIMULATION_REQ_GET_POSE2D 1
2650 
2652 #define PLAYER_SIMULATION_REQ_SET_POSE2D 2
2653 
2655 #define PLAYER_SIMULATION_REQ_GET_POSE3D 3
2656 
2658 #define PLAYER_SIMULATION_REQ_SET_POSE3D 4
2659 
2661 #define PLAYER_SIMULATION_REQ_GET_PROPERTY 5
2662 
2664 #define PLAYER_SIMULATION_REQ_SET_PROPERTY 6
2665 
2667 #define PLAYER_SIMULATION_CMD_PAUSE 1
2668 
2670 #define PLAYER_SIMULATION_CMD_RESET 2
2671 
2673 #define PLAYER_SIMULATION_CMD_SAVE 3
2674 
2675 
2676 
2677 
2683 {
2685  uint8_t data;
2687 
2693 {
2695  uint8_t cmd;
2697 
2705 {
2707  uint32_t name_count;
2709  char *name;
2713 
2721 {
2723  uint32_t name_count;
2725  char *name;
2729  double simtime;
2731 
2753 {
2755  uint32_t name_count;
2757  char *name;
2759  uint32_t prop_count;
2761  char *prop;
2763  uint32_t index;
2765  uint32_t value_count;
2767  char *value;
2769 
2770 
2771 
2777 #define PLAYER_BLINKENLIGHT_CODE 33
2778 
2781 #define PLAYER_BLINKENLIGHT_STRING "blinkenlight"
2782 
2783 // /////////////////////////////////////////////////////////////////////////////
2802 #define PLAYER_BLINKENLIGHT_DATA_STATE 1
2803 
2804 
2805 #define PLAYER_BLINKENLIGHT_CMD_STATE 1
2806 
2807 
2808 #define PLAYER_BLINKENLIGHT_CMD_POWER 2
2809 
2810 
2811 #define PLAYER_BLINKENLIGHT_CMD_COLOR 3
2812 
2813 
2814 #define PLAYER_BLINKENLIGHT_CMD_FLASH 4
2815 
2816 
2821 {
2823  uint8_t enable;
2825  float period;
2827  float dutycycle;
2831 
2836 {
2838  uint16_t id;
2840  uint8_t enable;
2842  float period;
2844  float dutycycle;
2848 
2853 {
2855  uint16_t id;
2857  uint8_t enable;
2859 
2864 {
2866  uint16_t id;
2870 
2875 {
2877  uint16_t id;
2879  float period;
2881  float dutycycle;
2883 
2884 
2885 
2891 #define PLAYER_CAMERA_CODE 40
2892 
2895 #define PLAYER_CAMERA_STRING "camera"
2896 
2897 // /////////////////////////////////////////////////////////////////////////////
2916 #define PLAYER_CAMERA_DATA_STATE 1
2917 
2918 
2920 #define PLAYER_CAMERA_FORMAT_MONO8 1
2921 
2922 #define PLAYER_CAMERA_FORMAT_MONO16 2
2923 
2924 #define PLAYER_CAMERA_FORMAT_RGB565 4
2925 
2926 #define PLAYER_CAMERA_FORMAT_RGB888 5
2927 
2929 #define PLAYER_CAMERA_COMPRESS_RAW 0
2930 
2931 #define PLAYER_CAMERA_COMPRESS_JPEG 1
2932 
2934 typedef struct player_camera_data
2935 {
2937  uint32_t width;
2939  uint32_t height;
2941  uint32_t bpp;
2943  uint32_t format;
2947  uint32_t fdiv;
2950  uint32_t compression;
2952  uint32_t image_count;
2956  uint8_t *image;
2958 
2959 
2965 #define PLAYER_MAP_CODE 42
2966 
2969 #define PLAYER_MAP_STRING "map"
2970 
2971 // /////////////////////////////////////////////////////////////////////////////
2990 #define PLAYER_MAP_DATA_INFO 1
2991 
2993 #define PLAYER_MAP_REQ_GET_INFO 1
2994 
2996 #define PLAYER_MAP_REQ_GET_DATA 2
2997 
2999 #define PLAYER_MAP_REQ_GET_VECTOR 3
3000 
3001 
3002 
3003 
3005 #define PLAYER_MAP_DATA_INFO 1
3011 typedef struct player_map_info
3012 {
3014  float scale;
3016  uint32_t width;
3018  uint32_t height;
3023 
3032 typedef struct player_map_data
3033 {
3035  uint32_t col;
3037  uint32_t row;
3039  uint32_t width;
3041  uint32_t height;
3043  uint32_t data_count;
3045  int8_t *data;
3047 
3053 {
3055  float minx;
3057  float maxx;
3059  float miny;
3061  float maxy;
3063  uint32_t segments_count;
3067 
3068 
3069 
3075 #define PLAYER_PLANNER_CODE 44
3076 
3079 #define PLAYER_PLANNER_STRING "planner"
3080 
3081 // /////////////////////////////////////////////////////////////////////////////
3096 #define PLAYER_PLANNER_DATA_STATE 1
3097 
3099 #define PLAYER_PLANNER_CMD_GOAL 1
3100 
3102 #define PLAYER_PLANNER_REQ_GET_WAYPOINTS 1
3103 
3105 #define PLAYER_PLANNER_REQ_ENABLE 2
3106 
3107 
3108 
3109 
3114 typedef struct player_planner_data
3115 {
3117  uint8_t valid;
3119  uint8_t done;
3129  int32_t waypoint_idx;
3133 
3137 typedef struct player_planner_cmd
3138 {
3142 
3149 {
3155 
3162 {
3164  uint8_t state;
3166 
3167 
3168 
3174 #define PLAYER_LOG_CODE 45
3175 
3178 #define PLAYER_LOG_STRING "log"
3179 
3180 // /////////////////////////////////////////////////////////////////////////////
3198 #define PLAYER_LOG_REQ_SET_WRITE_STATE 1
3199 
3201 #define PLAYER_LOG_REQ_SET_READ_STATE 2
3202 
3204 #define PLAYER_LOG_REQ_GET_STATE 3
3205 
3207 #define PLAYER_LOG_REQ_SET_READ_REWIND 4
3208 
3210 #define PLAYER_LOG_REQ_SET_FILENAME 5
3211 
3212 
3213 
3215 #define PLAYER_LOG_TYPE_READ 1
3216 
3217 #define PLAYER_LOG_TYPE_WRITE 2
3218 
3219 
3225 {
3227  uint8_t state;
3229 
3235 {
3237  uint8_t state;
3239 
3251 typedef struct player_log_get_state
3252 {
3255  uint8_t type;
3257  uint8_t state;
3259 
3265 {
3267  uint32_t filename_count;
3269  char filename[256];
3271 
3272 
3273 
3279 #define PLAYER_JOYSTICK_CODE 49
3280 
3283 #define PLAYER_JOYSTICK_STRING "joystick"
3284 
3285 // /////////////////////////////////////////////////////////////////////////////
3302 #define PLAYER_JOYSTICK_DATA_STATE 1
3303 
3304 
3305 
3306 
3311  typedef struct player_joystick_data
3312  {
3314  int32_t pos[8];
3316  int32_t scale[8];
3318  uint32_t buttons;
3320  uint32_t axes_count;
3322 
3323 
3324 
3325 
3331 #define PLAYER_SPEECH_RECOGNITION_CODE 50
3332 
3335 #define PLAYER_SPEECH_RECOGNITION_STRING "speech_recognition"
3336 
3337 // /////////////////////////////////////////////////////////////////////////////
3353 #define PLAYER_SPEECH_RECOGNITION_DATA_STRING 1
3354 
3355 
3356 
3361 {
3363  uint32_t text_count;
3365  char *text;
3367 
3368 
3369 
3375 #define PLAYER_OPAQUE_CODE 51
3376 
3379 #define PLAYER_OPAQUE_STRING "opaque"
3380 
3381 // /////////////////////////////////////////////////////////////////////////////
3399 #define PLAYER_OPAQUE_DATA_STATE 1
3400 
3402 #define PLAYER_OPAQUE_CMD_DATA 1
3403 
3405 #define PLAYER_OPAQUE_REQ_DATA 1
3406 
3407 
3408 
3409 /* for backwards compatibility */
3410 #define PLAYER_OPAQUE_REQ PLAYER_OPAQUE_REQ_DATA
3411 #define PLAYER_OPAQUE_CMD PLAYER_OPAQUE_CMD_DATA
3412 
3414 typedef struct player_opaque_data
3415 {
3417  uint32_t data_count;
3419  uint8_t *data;
3421 
3422 
3423 
3429 #define PLAYER_POSITION1D_CODE 52
3430 
3433 #define PLAYER_POSITION1D_STRING "position1d"
3434 
3435 // /////////////////////////////////////////////////////////////////////////////
3450 #define PLAYER_POSITION1D_REQ_GET_GEOM 1
3451 
3453 #define PLAYER_POSITION1D_REQ_MOTOR_POWER 2
3454 
3456 #define PLAYER_POSITION1D_REQ_VELOCITY_MODE 3
3457 
3459 #define PLAYER_POSITION1D_REQ_POSITION_MODE 4
3460 
3462 #define PLAYER_POSITION1D_REQ_SET_ODOM 5
3463 
3465 #define PLAYER_POSITION1D_REQ_RESET_ODOM 6
3466 
3468 #define PLAYER_POSITION1D_REQ_SPEED_PID 7
3469 
3471 #define PLAYER_POSITION1D_REQ_POSITION_PID 8
3472 
3474 #define PLAYER_POSITION1D_REQ_SPEED_PROF 9
3475 
3477 #define PLAYER_POSITION1D_DATA_STATE 1
3478 
3480 #define PLAYER_POSITION1D_DATA_GEOM 2
3481 
3483 #define PLAYER_POSITION1D_CMD_VEL 1
3484 
3486 #define PLAYER_POSITION1D_CMD_POS 2
3487 
3488 
3489 
3491 #define PLAYER_POSITION1D_STATUS_LIMIT_MIN 0
3492 
3493 #define PLAYER_POSITION1D_STATUS_LIMIT_CEN 1
3494 
3495 #define PLAYER_POSITION1D_STATUS_LIMIT_MAX 2
3496 
3497 #define PLAYER_POSITION1D_STATUS_OC 3
3498 
3499 #define PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE 4
3500 
3501 #define PLAYER_POSITION1D_STATUS_ENABLED 5
3502 
3508 {
3510  float pos;
3512  float vel;
3514  uint8_t stall;
3526  uint8_t status;
3527 
3529 
3536 {
3538  float vel;
3540  uint8_t state;
3542 
3549 {
3551  float pos;
3553  float vel;
3555  uint8_t state;
3557 
3563 {
3569 
3582 {
3584  uint8_t state;
3586 
3596 {
3598  uint32_t value;
3600 
3606 {
3608  uint32_t value;
3610 
3617 {
3619  uint32_t state;
3621 
3628 {
3630  float pos;
3632 
3639 {
3641  float kp;
3643  float ki;
3645  float kd;
3647 
3654 {
3656  float kp;
3658  float ki;
3660  float kd;
3662 
3669 {
3671  float speed;
3673  float acc;
3675 
3676 
3682 #define PLAYER_ACTARRAY_CODE 53
3683 
3686 #define PLAYER_ACTARRAY_STRING "actarray"
3687 
3688 // /////////////////////////////////////////////////////////////////////////////
3703 #define PLAYER_ACTARRAY_REQ_POWER 1
3704 
3705 
3706 #define PLAYER_ACTARRAY_REQ_BRAKES 2
3707 
3708 
3709 #define PLAYER_ACTARRAY_REQ_GET_GEOM 3
3710 
3711 
3712 #define PLAYER_ACTARRAY_REQ_SPEED 4
3713 
3714 
3715 #define PLAYER_ACTARRAY_REQ_ACCEL 5
3716 
3717 
3718 #define PLAYER_ACTARRAY_CMD_POS 1
3719 
3720 
3721 #define PLAYER_ACTARRAY_CMD_MULTI_POS 2
3722 
3723 
3724 #define PLAYER_ACTARRAY_CMD_SPEED 3
3725 
3726 
3727 #define PLAYER_ACTARRAY_CMD_MULTI_SPEED 4
3728 
3729 
3730 #define PLAYER_ACTARRAY_CMD_HOME 5
3731 
3732 
3733 #define PLAYER_ACTARRAY_CMD_CURRENT 6
3734 
3735 
3736 #define PLAYER_ACTARRAY_CMD_MULTI_CURRENT 7
3737 
3738 
3739 #define PLAYER_ACTARRAY_DATA_STATE 1
3740 
3741 
3743 #define PLAYER_ACTARRAY_ACTSTATE_IDLE 1
3744 
3745 #define PLAYER_ACTARRAY_ACTSTATE_MOVING 2
3746 
3747 #define PLAYER_ACTARRAY_ACTSTATE_BRAKED 4
3748 
3749 #define PLAYER_ACTARRAY_ACTSTATE_STALLED 8
3750 
3752 #define PLAYER_ACTARRAY_TYPE_LINEAR 1
3753 
3754 #define PLAYER_ACTARRAY_TYPE_ROTARY 2
3755 
3756 
3759 {
3761  float position;
3763  float speed;
3767  float current;
3769  uint8_t state;
3771 
3775 typedef struct player_actarray_data
3776 {
3782  uint8_t motor_state;
3784 
3787 {
3789  uint8_t type;
3792  float length;
3802  float min;
3804  float centre;
3806  float max;
3808  float home;
3812  uint8_t hasbrakes;
3814 
3819 typedef struct player_actarray_geom
3820 {
3832 
3833 
3838 {
3840  int32_t joint;
3842  float position;
3844 
3849 {
3853  float *positions;
3855 
3860 {
3862  int32_t joint;
3864  float speed;
3866 
3871 {
3873  uint32_t speeds_count;
3875  float *speeds;
3877 
3882 {
3884  int32_t joint;
3886 
3891 {
3893  int32_t joint;
3895  float current;
3897 
3902 {
3904  uint32_t currents_count;
3906  float *currents;
3908 
3909 
3910 
3911 
3919 {
3921  uint8_t value;
3923 
3929 {
3931  uint8_t value;
3933 
3939 {
3941  int32_t joint;
3943  float speed;
3945 
3946 
3952 {
3954  int32_t joint;
3956  float accel;
3958 
3959 
3960 
3961 
3967 #define PLAYER_LIMB_CODE 54
3968 
3971 #define PLAYER_LIMB_STRING "limb"
3972 
3973 // /////////////////////////////////////////////////////////////////////////////
3988 #define PLAYER_LIMB_STATE_IDLE 1
3989 
3990 #define PLAYER_LIMB_STATE_BRAKED 2
3991 
3992 #define PLAYER_LIMB_STATE_MOVING 3
3993 
3994 #define PLAYER_LIMB_STATE_OOR 4
3995 
3996 #define PLAYER_LIMB_STATE_COLL 5
3997 
3999 #define PLAYER_LIMB_DATA_STATE 1
4000 
4004 #define PLAYER_LIMB_CMD_HOME 1
4005 
4009 #define PLAYER_LIMB_CMD_STOP 2
4010 
4012 #define PLAYER_LIMB_CMD_SETPOSE 3
4013 
4015 #define PLAYER_LIMB_CMD_SETPOSITION 4
4016 
4018 #define PLAYER_LIMB_CMD_VECMOVE 5
4019 
4021 #define PLAYER_LIMB_REQ_POWER 1
4022 
4024 #define PLAYER_LIMB_REQ_BRAKES 2
4025 
4027 #define PLAYER_LIMB_REQ_GEOM 3
4028 
4030 #define PLAYER_LIMB_REQ_SPEED 4
4031 
4032 
4033 
4037 typedef struct player_limb_data
4038 {
4048  uint8_t state;
4050 
4051 
4057 {
4065 
4071 {
4075 
4081 {
4085  float length;
4087 
4094 {
4096  uint8_t value;
4098 
4104 {
4106  uint8_t value;
4108 
4112 typedef struct player_limb_geom_req
4113 {
4117 
4123 {
4125  float speed;
4127 
4128 
4129 
4135 #define PLAYER_GRAPHICS2D_CODE 55
4136 
4139 #define PLAYER_GRAPHICS2D_STRING "graphics2d"
4140 
4141 // /////////////////////////////////////////////////////////////////////////////
4159 #define PLAYER_GRAPHICS2D_CMD_CLEAR 1
4160 
4162 #define PLAYER_GRAPHICS2D_CMD_POINTS 2
4163 
4165 #define PLAYER_GRAPHICS2D_CMD_POLYLINE 3
4166 
4168 #define PLAYER_GRAPHICS2D_CMD_POLYGON 4
4169 
4170 
4171 
4180 {
4182  uint32_t points_count;
4188 
4193 {
4195  uint32_t points_count;
4201 
4206 {
4208  uint32_t points_count;
4216  uint8_t filled;
4218 
4219 
4225 #define PLAYER_RFID_CODE 56
4226 
4229 #define PLAYER_RFID_STRING "rfid"
4230 
4231 // /////////////////////////////////////////////////////////////////////////////
4247 #define PLAYER_RFID_DATA_TAGS 1
4248 
4250 #define PLAYER_RFID_REQ_POWER 1
4251 
4253 #define PLAYER_RFID_REQ_READTAG 2
4254 
4256 #define PLAYER_RFID_REQ_WRITETAG 3
4257 
4259 #define PLAYER_RFID_REQ_LOCKTAG 4
4260 
4261 
4262 
4263 
4265 typedef struct player_rfid_tag
4266 {
4268  uint32_t type;
4270  uint32_t guid_count;
4272  char *guid;
4274 
4278 typedef struct player_rfid_data
4279 {
4281  uint32_t tags_count;
4285 
4286 
4292 #define PLAYER_WSN_CODE 57
4293 
4296 #define PLAYER_WSN_STRING "wsn"
4297 
4298 // /////////////////////////////////////////////////////////////////////////////
4318 #define PLAYER_WSN_DATA_STATE 1
4319 
4321 #define PLAYER_WSN_CMD_DEVSTATE 1
4322 
4324 #define PLAYER_WSN_REQ_POWER 1
4325 
4327 #define PLAYER_WSN_REQ_DATATYPE 2
4328 
4330 #define PLAYER_WSN_REQ_DATAFREQ 3
4331 
4332 
4333 
4335 typedef struct player_wsn_node_data
4336 {
4338  float light;
4340  float mic;
4342  float accel_x;
4344  float accel_y;
4346  float accel_z;
4348  float magn_x;
4350  float magn_y;
4352  float magn_z;
4356  float battery;
4358 
4362 typedef struct player_wsn_data
4363 {
4365  uint32_t node_type;
4367  uint32_t node_id;
4369  uint32_t node_parent_id;
4373 
4377 typedef struct player_wsn_cmd
4378 {
4380  int32_t node_id;
4382  int32_t group_id;
4384  uint32_t device;
4386  uint8_t enable;
4388 
4394 {
4396  int32_t node_id;
4398  int32_t group_id;
4400  uint8_t value;
4402 
4409 {
4411  uint8_t value;
4413 
4420 {
4422  int32_t node_id;
4424  int32_t group_id;
4426  double frequency;
4428 
4429 
4435 #define PLAYER_GRAPHICS3D_CODE 58
4436 
4439 #define PLAYER_GRAPHICS3D_STRING "graphics3d"
4440 
4441 // /////////////////////////////////////////////////////////////////////////////
4463 #define PLAYER_GRAPHICS3D_CMD_CLEAR 1
4464 
4466 #define PLAYER_GRAPHICS3D_CMD_DRAW 2
4467 
4469 #define PLAYER_GRAPHICS3D_CMD_TRANSLATE 3
4470 
4472 #define PLAYER_GRAPHICS3D_CMD_ROTATE 4
4473 
4475 #define PLAYER_GRAPHICS3D_CMD_PUSH 5
4476 
4478 #define PLAYER_GRAPHICS3D_CMD_POP 6
4479 
4480 
4481 
4484 {
4485  PLAYER_DRAW_POINTS,
4486  PLAYER_DRAW_LINES,
4487  PLAYER_DRAW_LINE_STRIP,
4488  PLAYER_DRAW_LINE_LOOP,
4489  PLAYER_DRAW_TRIANGLES,
4490  PLAYER_DRAW_TRIANGLE_STRIP,
4491  PLAYER_DRAW_TRIANGLE_FAN,
4492  PLAYER_DRAW_QUADS,
4493  PLAYER_DRAW_QUAD_STRIP,
4494  PLAYER_DRAW_POLYGON
4496 
4497 
4506 {
4508  uint32_t draw_mode;
4510  uint32_t points_count;
4515 
4517 
4522 {
4523  double x;
4524  double y;
4525  double z;
4527 
4532 {
4533  double a;
4534  double x;
4535  double y;
4536  double z;
4538 
4539 
4540 
4546 #define PLAYER_HEALTH_CODE 59
4547 
4550 #define PLAYER_HEALTH_STRING "health"
4551 
4552 // /////////////////////////////////////////////////////////////////////////////
4568 #define PLAYER_HEALTH_DATA_STATE 1
4569 
4570 
4572 typedef struct player_health_cpu
4573 {
4575  float idle;
4577  float system;
4579  float user;
4581 
4583 typedef struct player_health_memory
4584 {
4586  int64_t total;
4588  int64_t used;
4590  int64_t free;
4594 typedef struct player_health_data
4595 {
4602 
4604 
4605 
4611 #define PLAYER_IMU_CODE 60
4612 
4615 #define PLAYER_IMU_STRING "imu"
4616 
4617 // /////////////////////////////////////////////////////////////////////////////
4633 #define PLAYER_IMU_DATA_STATE 1
4634 
4636 #define PLAYER_IMU_DATA_CALIB 2
4637 
4639 #define PLAYER_IMU_DATA_QUAT 3
4640 
4642 #define PLAYER_IMU_DATA_EULER 4
4643 
4645 #define PLAYER_IMU_DATA_FULLSTATE 5
4646 
4648 #define PLAYER_IMU_REQ_SET_DATATYPE 1
4649 
4651 #define PLAYER_IMU_REQ_RESET_ORIENTATION 2
4652 
4653 
4654 
4655 
4661 {
4665 
4671 {
4673  float accel_x;
4675  float accel_y;
4677  float accel_z;
4679  float gyro_x;
4681  float gyro_y;
4683  float gyro_z;
4685  float magn_x;
4687  float magn_y;
4689  float magn_z;
4691 
4696 typedef struct player_imu_data_quat
4697 {
4700 
4702  float q0;
4703  float q1;
4704  float q2;
4705  float q3;
4707 
4713 {
4716 
4720 
4721 
4727 {
4735 
4736 
4737 
4738 
4746 {
4750  uint8_t value;
4752 
4758 {
4760  uint32_t value;
4762 
4763 
4769 #define PLAYER_POINTCLOUD3D_CODE 61
4770 
4773 #define PLAYER_POINTCLOUD3D_STRING "pointcloud3d"
4774 
4775 // /////////////////////////////////////////////////////////////////////////////
4791 #define PLAYER_POINTCLOUD3D_DATA_STATE 1
4792 
4793 
4794 
4799 {
4800  player_point_3d_t point;
4801  player_color_t color;
4812 
4817 {
4818  uint32_t points_count;
4821 
4822 
4823 
4829 #define PLAYER_RANGER_CODE 62
4830 
4833 #define PLAYER_RANGER_STRING "ranger"
4834 
4835 // /////////////////////////////////////////////////////////////////////////////
4886 #define PLAYER_RANGER_DATA_RANGE 1
4887 
4889 #define PLAYER_RANGER_DATA_RANGESTAMPED 2
4890 
4892 #define PLAYER_RANGER_DATA_INTNS 3
4893 
4895 #define PLAYER_RANGER_DATA_INTNSSTAMPED 4
4896 
4898 #define PLAYER_RANGER_DATA_GEOM 5
4899 
4901 #define PLAYER_RANGER_REQ_GET_GEOM 1
4902 
4904 #define PLAYER_RANGER_REQ_POWER 2
4905 
4907 #define PLAYER_RANGER_REQ_INTNS 3
4908 
4910 #define PLAYER_RANGER_REQ_SET_CONFIG 4
4911 
4913 #define PLAYER_RANGER_REQ_GET_CONFIG 5
4914 
4915 
4916 
4920 typedef struct player_ranger_config
4921 {
4923  double min_angle;
4925  double max_angle;
4927  double angular_res;
4930  double min_range;
4932  double max_range;
4934  double range_res;
4936  double frequency;
4938 
4942 typedef struct player_ranger_geom
4943 {
4957 
4962 {
4964  uint32_t ranges_count;
4966  double *ranges;
4968 
4974 {
4978  uint8_t have_geom;
4982  uint8_t have_config;
4986 
4991 {
4995  double *intensities;
4997 
5003 {
5007  uint8_t have_geom;
5011  uint8_t have_config;
5015 
5020 {
5022  uint8_t state;
5024 
5032 {
5034  uint8_t state;
5036 
5037 
5038 
5044 #define PLAYER_VECTORMAP_CODE 63
5045 
5048 #define PLAYER_VECTORMAP_STRING "vectormap"
5049 
5050 // /////////////////////////////////////////////////////////////////////////////
5063 
5074 #define PLAYER_VECTORMAP_REQ_GET_MAP_INFO 1
5075 
5077 #define PLAYER_VECTORMAP_REQ_GET_LAYER_DATA 3
5078 
5080 #define PLAYER_VECTORMAP_REQ_WRITE_LAYER 4
5081 
5082 
5083 
5086 {
5088  uint32_t name_count;
5090  char* name;
5092  uint32_t wkb_count;
5094  uint8_t* wkb;
5095 
5097  uint32_t attrib_count;
5099  char* attrib;
5101 
5103 {
5105  uint32_t name_count;
5107  char* name;
5111 
5114 {
5116  uint32_t name_count;
5118  char* name;
5120  uint32_t features_count;
5124 
5127 {
5129  uint32_t srid;
5131  uint32_t layers_count;
5137 
5138 
5139 
5145 #define PLAYER_BLACKBOARD_CODE 64
5146 
5149 #define PLAYER_BLACKBOARD_STRING "blackboard"
5150 
5151 // /////////////////////////////////////////////////////////////////////////////
5165 #define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY 1
5166 
5168 #define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY 2
5169 
5171 #define PLAYER_BLACKBOARD_REQ_SET_ENTRY 3
5172 
5174 #define PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP 4
5175 
5177 #define PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP 5
5178 
5180 #define PLAYER_BLACKBOARD_REQ_GET_ENTRY 6
5181 
5183 #define PLAYER_BLACKBOARD_DATA_UPDATE 1
5184 
5185 
5186 
5187 
5188 
5194 #define PLAYER_STEREO_CODE 65
5195 
5198 #define PLAYER_STEREO_STRING "stereo"
5199 
5200 // /////////////////////////////////////////////////////////////////////////////
5218 #define PLAYER_STEREO_DATA_STATE 1
5219 
5220 
5222 {
5224  float px;
5226  float py;
5228  float pz;
5230  uint8_t red;
5232  uint8_t green;
5234  uint8_t blue;
5236 
5238 typedef struct player_stereo_data
5239 {
5240  /* Left channel image */
5241  player_camera_data_t left_channel;
5242  /* Right channel image */
5243  player_camera_data_t right_channel;
5244 
5245  /* Disparity image */
5246  player_camera_data_t disparity;
5247 
5248  /* 3-D stereo point cloud */
5249  uint32_t points_count;
5251 
5252 
5253  /* Special mode flags: define what images are being sent */
5254  uint32_t mode;
5256 
5257 
5260 /* END OF AUTOGENERATED CODE */
Request/reply: Set odometry.
Definition: player_interfaces.h:3627
struct player_imu_data_state player_imu_data_state_t
Data: calibrated IMU data (PLAYER_IMU_DATA_STATE)
Structure describing the WSN node's data packet.
Definition: player_interfaces.h:4335
uint8_t motor_state
power state
Definition: player_interfaces.h:3782
Command: output values (PLAYER_DIO_CMD_VALUES)
Definition: player_interfaces.h:2004
uint8_t green
Green color channel.
Definition: player_interfaces.h:5232
uint32_t height
The size of the map [pixels].
Definition: player_interfaces.h:3018
Data: Stamped intensity scan (PLAYER_RANGER_DATA_INTNSSTAMPED)
Definition: player_interfaces.h:5002
position 2d velocity command
Definition: player_interfaces.h:617
double frequency
Requested frequency in Hz.
Definition: player_interfaces.h:4426
struct player_position3d_geom player_position3d_geom_t
Request/reply: Query geometry.
player_rfid_tag_t * tags
The list of RFID tags.
Definition: player_interfaces.h:4283
player_pose3d_t pos
(x, y, z, roll, pitch, yaw) position [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2564
struct player_audio_seq_item player_audio_seq_item_t
Player audio sequence item.
struct player_aio_cmd player_aio_cmd_t
Command: state (PLAYER_AIO_CMD_STATE)
struct player_wsn_power_config player_wsn_power_config_t
Request/reply: Put the node in sleep mode (0) or wake it up (1).
uint32_t id
A unique, increasing, ID for the scan.
Definition: player_interfaces.h:905
uint32_t state
0 for velocity mode, 1 for position mode
Definition: player_interfaces.h:3619
Request/reply: Change position control.
Definition: player_interfaces.h:2538
player_pose2d_t waypoint
Current waypoint location (m,m,rad)
Definition: player_interfaces.h:3125
uint8_t data
A single byte of as-yet-unspecified data.
Definition: player_interfaces.h:2685
uint32_t * config
Buffer for command/reply.
Definition: player_interfaces.h:1295
uint8_t stall
Are the motors stalled?
Definition: player_interfaces.h:2477
struct player_health_cpu player_health_cpu_t
Structure describing the cpu.
uint32_t value
driver-specific
Definition: player_interfaces.h:4760
data
Definition: player_interfaces.h:3414
Request/reply: Put the node in sleep mode (0) or wake it up (1).
Definition: player_interfaces.h:4393
char * value
The value of the property.
Definition: player_interfaces.h:2767
player_bbox3d_t size
Dimensions of the base (m).
Definition: player_interfaces.h:660
struct player_pointcloud3d_stereo_element player_pointcloud3d_stereo_element_t
Data: state (PLAYER_STEREO_DATA_STATE)
uint32_t node_parent_id
The ID of the WSN node's parent (if existing).
Definition: player_interfaces.h:4369
struct player_fiducial_geom player_fiducial_geom_t
Request/reply: Get geometry.
struct player_ranger_data_rangestamped player_ranger_data_rangestamped_t
Data: Stamped range scan (PLAYER_RANGER_DATA_RANGESTAMPED)
struct player_audio_mixer_channel player_audio_mixer_channel_t
Player mixer channel.
struct player_limb_setpose_cmd player_limb_setpose_cmd_t
Command: Set end effector pose (PLAYER_LIMB_CMD_SETPOSE)
Request/reply: Sonar power.
Definition: player_interfaces.h:798
Command: Translate coordinate system (PLAYER_GRAPHICS3D_CMD_TRANSLATE) Translate the current coordina...
Definition: player_interfaces.h:4521
struct player_position1d_position_mode_req player_position1d_position_mode_req_t
Request/reply: Change control mode.
Request/reply: Get/set scan properties.
Definition: player_interfaces.h:964
uint32_t details_count
number of tones in list
Definition: player_interfaces.h:1575
struct player_limb_power_req player_limb_power_req_t
Request/reply: Power.
struct player_ranger_data_range player_ranger_data_range_t
Data: range scan (PLAYER_RANGER_DATA_RANGE)
uint32_t name_count
Length of name.
Definition: player_interfaces.h:2723
player_fiducial_item_t * fiducials
List of detected fiducials.
Definition: player_interfaces.h:1708
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:4964
player_pose3d_t upose
Uncertainty in the measured pose .
Definition: player_interfaces.h:1696
float tilt
Tilt [rad].
Definition: player_interfaces.h:1236
A rectangular bounding box, used to define the size of an object.
Definition: player.h:250
struct player_position3d_speed_prof_req player_position3d_speed_prof_req_t
Request/reply: Set speed profile parameters.
Request/reply: get/set 3D pose of a named simulation object.
Definition: player_interfaces.h:2720
Command: power (PLAYER_BLINKENLIGHT_CMD_POWER) This blinkenlight command turns the light on or off...
Definition: player_interfaces.h:2852
Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB)
Definition: player_interfaces.h:4670
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:633
struct player_position3d_cmd_vel player_position3d_cmd_vel_t
Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)
float panspeed
Current pan velocity [rad/s].
Definition: player_interfaces.h:1240
float temperature
The node's templerature measurement from a temperature sensor.
Definition: player_interfaces.h:4354
uint32_t channel
For devices that can track multiple colors, indicate which color channel we are defining with this st...
Definition: player_interfaces.h:1126
uint32_t index
channel index
Definition: player_interfaces.h:1523
float magn_z
The IMU's calibrated magnetic value on Z-axis.
Definition: player_interfaces.h:4689
uint8_t * intensity
Intensity readings.
Definition: player_interfaces.h:903
#define PLAYER_MAX_DRIVER_STRING_LEN
Maximum length for a driver name.
Definition: player.h:68
struct player_ir_power_req player_ir_power_req_t
Request/reply: set power.
float max_range
Maximum range [m].
Definition: player_interfaces.h:973
struct player_audio_seq player_audio_seq_t
Player audio sequence.
struct player_log_set_write_state player_log_set_write_state_t
Request/reply: Set write state.
uint16_t id
identify the light we are addressing
Definition: player_interfaces.h:2866
int32_t index
index to store it at or retrieve from (-1 for next available where valid)
Definition: player_interfaces.h:1597
uint32_t segments_count
The number of line segments.
Definition: player_interfaces.h:3063
float ki
PID parameters.
Definition: player_interfaces.h:2581
struct player_limb_vecmove_cmd player_limb_vecmove_cmd_t
Command: Vector move the end effector (PLAYER_LIMB_CMD_VECMOVE)
A rectangular bounding box, used to define the origin and bounds of an object.
Definition: player.h:303
struct player_actarray_position_cmd player_actarray_position_cmd_t
Command: Joint position control (PLAYER_ACTARRAY_CMD_POS)
struct player_vectormap_layer_info player_vectormap_layer_info_t
Request/reply subtype: get vectormap meta-data.
uint8_t state
TRUE to turn device on, FALSE to turn device off.
Definition: player_interfaces.h:5022
player_ranger_geom_t geom
The geometry of the device at the time the scan was acquired.
Definition: player_interfaces.h:4980
struct player_position1d_speed_prof_req player_position1d_speed_prof_req_t
Request/reply: Set linear speed profile parameters.
player_pose2d_t vel
velocity at which to move to the position [m/s] or [rad/s]
Definition: player_interfaces.h:631
struct player_simulation_pose2d_req player_simulation_pose2d_req_t
Request/reply: get/set 2D pose of a named simulation object.
struct player_fiducial_id player_fiducial_id_t
Request/reply: Get/set fiducial ID.
Command: state (PLAYER_PTZ_CMD_STATE)
Definition: player_interfaces.h:1251
player_health_memory_t mem
The memory stats.
Definition: player_interfaces.h:4599
Player audio sequence item.
Definition: player_interfaces.h:1484
float dutycycle
flash duty cycle (ratio of time-on to time-off in one cycle (0.0 to 1.0).
Definition: player_interfaces.h:2844
uint32_t maxnoise
Maximum value for noise.
Definition: player_interfaces.h:2264
uint32_t gmin
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1132
Request/reply: Set filter settings.
Definition: player_interfaces.h:1019
float tilt
Desired tilt angle [rad].
Definition: player_interfaces.h:1256
player_pose3d_t pose
Device centre pose in robot CS [m, m, m, rad, rad, rad].
Definition: player_interfaces.h:4945
uint8_t enable
FALSE: disabled, TRUE: enabled.
Definition: player_interfaces.h:2823
float acc
max acceleration [rad/s^2]
Definition: player_interfaces.h:2609
uint32_t poses_count
The number of valid poses.
Definition: player_interfaces.h:789
uint32_t bits
bitfield of samples
Definition: player_interfaces.h:1997
struct player_position2d_cmd_car player_position2d_cmd_car_t
position2d command setting velocity and steering angle
double cov[3]
The covariance matrix pose estimate (m$^2$, rad$^2$).
Definition: player_interfaces.h:2338
int32_t default_input
default input channel (-1 for none)
Definition: player_interfaces.h:1581
Player audio sample selection.
Definition: player_interfaces.h:1605
Request/reply: Speed.
Definition: player_interfaces.h:4122
A color descriptor.
Definition: player.h:316
player_pose3d_t pose
Laser pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:951
Request/reply: Set filename.
Definition: player_interfaces.h:3264
Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED)
Definition: player_interfaces.h:3859
Data: range scan (PLAYER_RANGER_DATA_RANGE)
Definition: player_interfaces.h:4961
double alpha
The weight coefficient for linear combination (alpha)
Definition: player_interfaces.h:2340
float kp
PID parameters.
Definition: player_interfaces.h:3656
uint8_t state
TRUE to turn data on, FALSE to turn data off.
Definition: player_interfaces.h:5034
struct player_position1d_position_pid_req player_position1d_position_pid_req_t
Request/reply: Set position PID parameters.
player_pose2d_t goal
Goal location (m,m,rad)
Definition: player_interfaces.h:3140
uint32_t name_count
Length of robot name.
Definition: player_interfaces.h:215
Actuator geometry.
Definition: player_interfaces.h:3786
Request/reply: Set write state.
Definition: player_interfaces.h:3224
struct player_position2d_velocity_mode_config player_position2d_velocity_mode_config_t
position2d velocity mode config
player_laser_data_t scan
The scan data.
Definition: player_interfaces.h:915
Request/reply: Enable/disable robot motion.
Definition: player_interfaces.h:3161
struct player_actarray_multi_current_cmd player_actarray_multi_current_cmd_t
Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT)
uint32_t pending_count
The number of pending (unprocessed observations)
Definition: player_interfaces.h:2350
float dutycycle
flash duty cycle (ratio of time-on to time-off in one cycle).
Definition: player_interfaces.h:2827
Command: set device state (PLAYER_WSN_CMD_DEVSTATE) This wsn command sets the state of the node's ind...
Definition: player_interfaces.h:4377
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:967
struct player_log_set_read_state player_log_set_read_state_t
Request/reply: Set playback state.
struct player_planner_enable_req player_planner_enable_req_t
Request/reply: Enable/disable robot motion.
float * voltages
voltages [V]
Definition: player_interfaces.h:2118
float ki
PID parameters.
Definition: player_interfaces.h:698
struct player_laser_get_id_config player_laser_get_id_config_t
Request/reply: Get IDentification information.
Request/reply: Get IDentification information.
Definition: player_interfaces.h:996
player_pose3d_t pose
the local pose of a single bumper
Definition: player_interfaces.h:1932
struct player_pointcloud3d_data player_pointcloud3d_data_t
Data: Get cloud (PLAYER_POINTCLOUD3D_DATA_STATE) The basic 3dcloudpoint data packet.
Command: state (PLAYER_PLANNER_CMD_GOAL)
Definition: player_interfaces.h:3137
struct player_position3d_power_config player_position3d_power_config_t
Request/reply: Motor power.
struct player_actarray_speed_config player_actarray_speed_config_t
Request/reply: Speed.
Structure describing the cpu.
Definition: player_interfaces.h:4572
float magn_y
The IMU's calibrated magnetic value on Y-axis.
Definition: player_interfaces.h:4687
player_bbox3d_t size
Size of the device [m, m, m].
Definition: player_interfaces.h:4947
Structure describing the memory.
Definition: player_interfaces.h:4583
int8_t * data
Cell occupancy value (empty = -1, unknown = 0, occupied = +1).
Definition: player_interfaces.h:3045
uint8_t status
bitfield of extra data in the following order:
Definition: player_interfaces.h:3526
int32_t node_id
The ID of the WSN node.
Definition: player_interfaces.h:4422
struct player_ir_pose player_ir_pose_t
Request/reply: get pose.
uint32_t links_count
length of said list
Definition: player_interfaces.h:2248
struct player_audio_mixer_channel_detail player_audio_mixer_channel_detail_t
Player mixer channel detail.
float mic
The node's accoustic measurement from a microphone.
Definition: player_interfaces.h:4340
player_pose2d_t mean
The best (?) pose (mm, mm, arc-seconds).
Definition: player_interfaces.h:2389
uint32_t fiducials_count
The number of detected fiducials.
Definition: player_interfaces.h:1706
player_ranger_config_t config
The sensor configuration at the time the scan was acquired.
Definition: player_interfaces.h:5013
char * prop
The identifier of the property we want to get/set.
Definition: player_interfaces.h:2761
player_localize_particle_t * particles
The particles.
Definition: player_interfaces.h:2395
float speed
Speed setting in m/s or rad/s.
Definition: player_interfaces.h:3943
player_pose3d_t vel
velocity at which to move to the position [m/s] or [rad/s]
Definition: player_interfaces.h:2489
struct player_add_replace_rule_req player_add_replace_rule_req_t
Configuration request: Add client queue replace rule.
player_extent2d_t extent
Boundary area.
Definition: player_interfaces.h:5135
struct player_position2d_data player_position2d_data_t
position2d data
struct player_actarray_actuatorgeom player_actarray_actuatorgeom_t
Actuator geometry.
float * currents
The current for the motors of the whole array.
Definition: player_interfaces.h:3906
set odometry
Definition: player_interfaces.h:686
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:2530
float range
Range to the blob center [meters].
Definition: player_interfaces.h:1093
float min_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:889
int32_t index
index of the sample
Definition: player_interfaces.h:1608
uint32_t row
The tile origin [pixels].
Definition: player_interfaces.h:3037
struct player_position3d_velocity_mode_config player_position3d_velocity_mode_config_t
Request/reply: Change velocity control.
struct player_sonar_power_config player_sonar_power_config_t
Request/reply: Sonar power.
Command: Joint position control (PLAYER_ACTARRAY_CMD_POS)
Definition: player_interfaces.h:3837
player_ranger_config_t config
The sensor configuration at the time the scan was acquired.
Definition: player_interfaces.h:4984
uint32_t left
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1085
player_actarray_actuatorgeom_t * actuators
The geometry information for each actuator in the array.
Definition: player_interfaces.h:3824
player_bool_t link
link to next note, true to play both ntoes together (or if both were recieved together) ...
Definition: player_interfaces.h:1493
player_point_2d_t * points
Array of points.
Definition: player_interfaces.h:4184
uint8_t num_beams
Number of breakbeams the gripper has.
Definition: player_interfaces.h:443
int32_t interf
Interface to set replace rule for (-1 for wildcard)
Definition: player_interfaces.h:235
struct player_position2d_position_mode_req player_position2d_position_mode_req_t
position2d position mode request
float accel_y
The node's acceleration on Y-axis from an acceleration sensor.
Definition: player_interfaces.h:4344
Command: state (PLAYER_POSITION1D_CMD_POS)
Definition: player_interfaces.h:3548
struct player_position1d_set_odom_req player_position1d_set_odom_req_t
Request/reply: Set odometry.
uint32_t text_count
Length of text.
Definition: player_interfaces.h:3363
uint32_t tones_count
number of tones in list
Definition: player_interfaces.h:1505
uint8_t stall
Is the motor stalled?
Definition: player_interfaces.h:3514
float q0
Orientation data as quaternions.
Definition: player_interfaces.h:4702
uint32_t beams
The position of the object in the gripper.
Definition: player_interfaces.h:423
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:3565
uint32_t id
A unique, increasing, ID for the scan.
Definition: player_interfaces.h:940
player_point_2d_t * points
Array of points to be joined by lines.
Definition: player_interfaces.h:4197
uint8_t * image
Compressed image data (byte-aligned, row major order).
Definition: player_interfaces.h:2956
float kp
PID parameters.
Definition: player_interfaces.h:2593
struct player_power_data player_power_data_t
Data: voltage (PLAYER_POWER_DATA_STATE)
float current
The current to move with.
Definition: player_interfaces.h:3895
Nameservice request.
Definition: player_interfaces.h:212
player_color_t fill_color
Color in which the polygon should be filled.
Definition: player_interfaces.h:4214
Request/reply: get geometry.
Definition: player_interfaces.h:3819
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:611
player_blobfinder_blob_t * blobs
The list of blobs.
Definition: player_interfaces.h:1108
uint32_t type
Tag type.
Definition: player_interfaces.h:4268
uint32_t maxqual
Maximum value for quality.
Definition: player_interfaces.h:2260
float dutycycle
flash duty cycle (ratio of time-on to time-off in one cycle).
Definition: player_interfaces.h:2881
player_color_t color
Color in which the outline should be drawn.
Definition: player_interfaces.h:4212
float panspeed
Desired pan velocity [rad/s].
Definition: player_interfaces.h:1260
int32_t joint
Joint to set speed for.
Definition: player_interfaces.h:3941
Request/reply: get geometry.
Definition: player_interfaces.h:433
char * name
Identifier for the layer.
Definition: player_interfaces.h:5118
struct player_position2d_speed_pid_req player_position2d_speed_pid_req_t
position2d speed PID req
uint8_t enable
FALSE: disabled, TRUE: enabled.
Definition: player_interfaces.h:2840
Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN)
Definition: player_interfaces.h:1703
float * voltages
the samples [V]
Definition: player_interfaces.h:2056
uint32_t height
The size of the tile [pixels].
Definition: player_interfaces.h:3041
struct player_laser_data_scanpose player_laser_data_scanpose_t
Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE)
float ki
PID parameters.
Definition: player_interfaces.h:3658
struct player_device_req player_device_req_t
Request/reply: (un)subscribe to a device.
player_color_t color
Color in which the points should be drawn.
Definition: player_interfaces.h:4186
float percent
Percent of full charge [%].
Definition: player_interfaces.h:301
A pose in the plane.
Definition: player.h:213
uint32_t data_count
length of raw data
Definition: player_interfaces.h:1469
float amplitude
level (normalised 0 to 1)
Definition: player_interfaces.h:1519
uint16_t port
The corresponding port.
Definition: player_interfaces.h:219
Command: state (PLAYER_BLINKENLIGHT_CMD_STATE) This blinkenlight command sets the complete current st...
Definition: player_interfaces.h:2835
Command: Draw polygon (PLAYER_GRAPHICS2D_CMD_POLYGON) Draw a polygon.
Definition: player_interfaces.h:4205
double z
translate distance along y axis
Definition: player_interfaces.h:4525
uint32_t mode
operating mode of device
Definition: player_interfaces.h:2256
int32_t colormode
Color Mode ( 0=RGB/AutoWhiteBalance Off, 1=RGB/AutoWhiteBalance On, 2=YCrCB/AWB Off, 3=YCrCb/AWB On) -1=no change.
Definition: player_interfaces.h:1166
Command: Joint home (PLAYER_CMD_ACTARRAY_HOME)
Definition: player_interfaces.h:3881
struct player_blobfinder_blob player_blobfinder_blob_t
Structure describing a single blob.
uint32_t features_count
The number of map features.
Definition: player_interfaces.h:5120
uint8_t have_geom
If non-zero, the geometry data has been filled.
Definition: player_interfaces.h:5007
Data.
Definition: player_interfaces.h:4278
uint32_t qual_type
Indicates type of link quality info we have.
Definition: player_interfaces.h:2258
Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT)
Definition: player_interfaces.h:3890
struct player_position1d_speed_pid_req player_position1d_speed_pid_req_t
Request/reply: Set velocity PID parameters.
struct player_gps_data player_gps_data_t
Data: state (PLAYER_GPS_DATA_STATE)
Command: Set end effector pose (PLAYER_LIMB_CMD_SETPOSE)
Definition: player_interfaces.h:4056
Data: calibrated IMU data (PLAYER_IMU_DATA_STATE)
Definition: player_interfaces.h:4660
int32_t type
message type to set replace rule for (-1 for wildcard), i.e.
Definition: player_interfaces.h:239
uint8_t state
state: TRUE to enable, FALSE to disable
Definition: player_interfaces.h:3164
struct player_localize_data player_localize_data_t
Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS)
uint8_t * intensity
Intensity readings.
Definition: player_interfaces.h:938
struct player_vectormap_layer_data player_vectormap_layer_data_t
Vectormap data.
player_health_memory_t swap
The swap stats.
Definition: player_interfaces.h:4601
Request/reply: Rewind playback.
Definition: player_interfaces.h:3251
uint32_t serial_number
Laser device serial number.
Definition: player_interfaces.h:999
struct player_ranger_data_intns player_ranger_data_intns_t
Data: intensity scan (PLAYER_RANGER_DATA_INTNS)
uint32_t height
Image dimensions [pixels].
Definition: player_interfaces.h:2939
Data AND Request/reply: bumper geometry.
Definition: player_interfaces.h:1946
struct player_position3d_data player_position3d_data_t
Data: state (PLAYER_POSITION3D_DATA_STATE)
uint32_t hypoths_count
The number of pose hypotheses.
Definition: player_interfaces.h:2354
player_pose2d_t vel
translational velocities [m/s,m/s,rad/s] (x, y, yaw)
Definition: player_interfaces.h:620
Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE)
Definition: player_interfaces.h:4726
uint32_t poses_count
the number of ir samples returned by this robot
Definition: player_interfaces.h:2131
#define PLAYER_MAX_DEVICES
The maximum number of devices the server will support.
Definition: player.h:70
player_point_3d_t base_pos
The position of the base of the actarray.
Definition: player_interfaces.h:3827
An angle in 3D space.
Definition: player.h:202
int32_t replace
Should we replace these messages.
Definition: player_interfaces.h:243
Request/reply: Power.
Definition: player_interfaces.h:3918
uint32_t value
driver-specific
Definition: player_interfaces.h:3598
struct player_vectormap_feature_data player_vectormap_feature_data_t
Vectormap feature data.
player_bool_t active
active (set to false to mute channel)
Definition: player_interfaces.h:1521
Request/reply: Brakes.
Definition: player_interfaces.h:3928
uint32_t bmax
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1138
uint8_t name[PLAYER_MAX_DRIVER_STRING_LEN]
The robot name.
Definition: player_interfaces.h:217
struct player_health_data player_health_data_t
Structure describing the HEALTH's data packet.
uint32_t bumpers_count
the number of valid bumper readings
Definition: player_interfaces.h:1923
double min_angle
Start angle of scans [rad].
Definition: player_interfaces.h:4923
#define PLAYER_LASER_MAX_FILTER_PARAMS
Filter setings.
Definition: player_interfaces.h:877
float kp
PID parameters.
Definition: player_interfaces.h:3641
uint32_t count
number of samples
Definition: player_interfaces.h:1995
Data: recognized string (PLAYER_SPEECH_MAX_STRING_LEN)
Definition: player_interfaces.h:3360
player_pose2d_t origin
The origin of the map [m, m, rad].
Definition: player_interfaces.h:3021
float gyro_y
The IMU's calibrated gyro value on Y-axis.
Definition: player_interfaces.h:4681
A device address.
Definition: player.h:141
struct player_actarray_multi_speed_cmd player_actarray_multi_speed_cmd_t
Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED)
Request/reply: Set tracking color.
Definition: player_interfaces.h:1121
struct player_ranger_config player_ranger_config_t
Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG)
struct player_wifi_mac_req player_wifi_mac_req_t
Request/reply:
char * name
Descriptive channel name.
Definition: player_interfaces.h:1560
struct player_laser_power_config player_laser_power_config_t
Request/reply: Turn power on/off.
struct player_ranger_intns_config player_ranger_intns_config_t
Request/reply: Turn intensity data on/off for devices that provide it (PLAYER_RANGER_REQ_INTNS) ...
player_color_t color
Color in which the points should be drawn.
Definition: player_interfaces.h:4514
uint32_t element_poses_count
Number of individual elements that make up the device.
Definition: player_interfaces.h:4949
float scale
The scale of the map [m/pixel].
Definition: player_interfaces.h:3014
uint32_t srid
Spatial reference identifier.
Definition: player_interfaces.h:5129
uint32_t color
A descriptive color for the blob (useful for gui's).
Definition: player_interfaces.h:1077
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:928
float pan
Pan [rad].
Definition: player_interfaces.h:1234
player_pose3d_t vel
(x, y, z, roll, pitch, yaw) velocity [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2475
struct player_position2d_geom player_position2d_geom_t
position2d geom
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:622
struct player_device_driverinfo player_device_driverinfo_t
Request/reply: Get the driver name for a particular device.
float position
The position of the actuator in m or rad depending on the type.
Definition: player_interfaces.h:3761
uint32_t angles_count
Number of agle readings.
Definition: player_interfaces.h:932
float speed
The speed to move with.
Definition: player_interfaces.h:3864
struct player_position3d_position_mode_req player_position3d_position_mode_req_t
Request/reply: Change position control.
uint8_t done
Have we arrived at the goal?
Definition: player_interfaces.h:3119
uint32_t config_count
Length of data in config buffer.
Definition: player_interfaces.h:1293
struct player_fiducial_item player_fiducial_item_t
Info on a single detected fiducial.
uint8_t value
Brakes setting; 0 for off, 1 for on.
Definition: player_interfaces.h:4106
double y
translate distance along x axis
Definition: player_interfaces.h:4524
player_audio_mixer_channel_t * channels
the channels
Definition: player_interfaces.h:1538
uint32_t waypoints_count
Number of waypoints in the plan.
Definition: player_interfaces.h:3131
uint8_t stall
Are the motors stalled?
Definition: player_interfaces.h:613
player_pose3d_t vel
The complete velocity of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4731
player_pose2d_t mean
The mean value of the pose estimate (m, m, rad).
Definition: player_interfaces.h:2366
uint32_t mode
Mode to use: must be either PLAYER_PTZ_VELOCITY_CONTROL or PLAYER_PTZ_POSITION_CONTROL.
Definition: player_interfaces.h:1308
struct player_ranger_data_intnsstamped player_ranger_data_intnsstamped_t
Data: Stamped intensity scan (PLAYER_RANGER_DATA_INTNSSTAMPED)
uint32_t ranges_count
The number of valid range readings.
Definition: player_interfaces.h:775
uint32_t voltages_count
number of valid samples
Definition: player_interfaces.h:2054
player_pose3d_t pose
the desired pose in (m, m, m, rad, rad, rad)
Definition: player_interfaces.h:2727
double cov[3]
The diagonal elements of the covariance matrix pose estimate (m$^2$, rad$^2$).
Definition: player_interfaces.h:2369
float radius
radius of curvature [m] - zero for straight lines
Definition: player_interfaces.h:1936
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:667
Data: state (PLAYER_LIMB_DATA)
Definition: player_interfaces.h:4037
Structure containing a single actuator's information.
Definition: player_interfaces.h:3758
uint8_t * data
The data we will be sending.
Definition: player_interfaces.h:3419
uint32_t fdiv
Some images (such as disparity maps) use scaled pixel values; for these images, fdiv specifies the sc...
Definition: player_interfaces.h:2947
struct player_sonar_geom player_sonar_geom_t
Data AND Request/reply: geometry.
struct player_fiducial_data player_fiducial_data_t
Data: detected fiducials (PLAYER_FIDUCIAL_DATA_SCAN)
Request/reply: Motor power.
Definition: player_interfaces.h:2527
Request/reply: get geometry.
Definition: player_interfaces.h:4112
float kd
PID parameters.
Definition: player_interfaces.h:3660
struct player_position3d_position_pid_req player_position3d_position_pid_req_t
Request/reply: Set position PID parameters.
player_point_3d_t position
Position of the end effector.
Definition: player_interfaces.h:4059
double * intensities
Intensity readings.
Definition: player_interfaces.h:4995
Command: color (PLAYER_BLINKENLIGHT_CMD_COLOR) This blinkenlight command sets the color of the light...
Definition: player_interfaces.h:2863
struct player_speech_recognition_data player_speech_recognition_data_t
Data: recognized string (PLAYER_SPEECH_MAX_STRING_LEN)
float maxx
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3057
struct player_simulation_property_req player_simulation_property_req_t
Request/reply: get/set a property of a named simulation object.
float vel
translational velocities [m/s] or [rad/s] depending on actuator type
Definition: player_interfaces.h:3512
double variance
The variance of the best (?) pose (mm^2)
Definition: player_interfaces.h:2391
player_pose2d_t goal
Goal location (m,m,rad)
Definition: player_interfaces.h:3123
Data: state (PLAYER_POSITION3D_DATA_STATE)
Definition: player_interfaces.h:2470
double utm_e
UTM WGS84 coordinates, easting [m].
Definition: player_interfaces.h:1862
Request/reply: (un)subscribe to a device.
Definition: player_interfaces.h:140
uint32_t x
The blob centroid [pixels].
Definition: player_interfaces.h:1081
int32_t pos[8]
Current joystick position X, Y and Yaw (unscaled)
Definition: player_interfaces.h:3314
struct player_localize_set_pose player_localize_set_pose_t
Request/reply: Set the robot pose estimate.
struct player_joystick_data player_joystick_data_t
Data: state (PLAYER_JOYSTICK_DATA_STATE)
uint32_t throughput
mysterious throughput calculated by driver
Definition: player_interfaces.h:2252
Player audio sample record request.
Definition: player_interfaces.h:1616
Request/reply: Query geometry.
Definition: player_interfaces.h:3562
Request/reply: Power.
Definition: player_interfaces.h:4093
float py
Y [m].
Definition: player_interfaces.h:5226
struct player_imu_data_quat player_imu_data_quat_t
Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT)
char * attrib
Attrib data for the feature.
Definition: player_interfaces.h:5099
struct player_wsn_data player_wsn_data_t
Data (PLAYER_WSN_DATA)
float battery
The node's remaining battery voltage.
Definition: player_interfaces.h:4356
Data: Euler orientation data (PLAYER_IMU_DATA_EULER)
Definition: player_interfaces.h:4712
uint8_t state
FALSE to turn laser off, TRUE to turn laser on.
Definition: player_interfaces.h:989
struct player_ptz_req_generic player_ptz_req_generic_t
Request/reply: Generic request.
uint32_t parameters_count
The number of filter parameters.
Definition: player_interfaces.h:1024
Definition: player_interfaces.h:5102
uint32_t node_id
The ID of the WSN node.
Definition: player_interfaces.h:4367
float period
flash period (duration of one whole on-off cycle) [s].
Definition: player_interfaces.h:2879
A point in the plane.
Definition: player.h:180
player_pose3d_t * element_poses
Pose of each individual element that makes up the device (in device CS).
Definition: player_interfaces.h:4951
player_point_3d_t * points
Array of points.
Definition: player_interfaces.h:4512
struct player_planner_cmd player_planner_cmd_t
Command: state (PLAYER_PLANNER_CMD_GOAL)
player_ranger_data_intns_t data
The scan data.
Definition: player_interfaces.h:5005
Command: state (PLAYER_AIO_CMD_STATE)
Definition: player_interfaces.h:2062
player_pose2d_t pose
The global pose of the laser at the time the scan was acquired.
Definition: player_interfaces.h:917
Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)
Definition: player_interfaces.h:2498
struct player_wsn_datatype_config player_wsn_datatype_config_t
Request/reply: change the data type to RAW or converted engineering units.
uint32_t maxlevel
Maximum value for level.
Definition: player_interfaces.h:2262
uint32_t bmin
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1136
uint8_t blue
Blue color channel.
Definition: player_interfaces.h:5234
struct player_position1d_data player_position1d_data_t
Data: state (PLAYER_POSITION1D_DATA_STATE)
uint8_t * wkb
Well known binary describing the geometric shape.
Definition: player_interfaces.h:5094
double max_angle
End angle of scans [rad].
Definition: player_interfaces.h:4925
struct player_localize_hypoth player_localize_hypoth_t
Hypothesis format.
position2d geom
Definition: player_interfaces.h:655
uint32_t tags_count
The number of RFID tags found.
Definition: player_interfaces.h:4281
struct player_audio_sample player_audio_sample_t
Player audio sample.
float ki
PID parameters.
Definition: player_interfaces.h:3643
float amplitude
amplitude
Definition: player_interfaces.h:1491
player_bbox3d_t * element_sizes
Size of each individual element that makes up the device.
Definition: player_interfaces.h:4955
uint32_t particles_count
The number of particles included.
Definition: player_interfaces.h:2393
uint32_t auth_key_count
Length of key.
Definition: player_interfaces.h:201
uint16_t id
identify the light we are addressing
Definition: player_interfaces.h:2838
player_bbox3d_t size
Dimensions of the base [m, m, m].
Definition: player_interfaces.h:1281
uint32_t actuators_count
The number of actuators in the array.
Definition: player_interfaces.h:3822
player_graphics3d_draw_mode
Drawmode: enumeration that defines the drawing mode.
Definition: player_interfaces.h:4483
Request/reply: Reset odometry.
Definition: player_interfaces.h:2576
player_bbox3d_t size
Laser dimensions (m, m, m).
Definition: player_interfaces.h:953
uint32_t time_sec
GPS (UTC) time, in seconds and microseconds since the epoch.
Definition: player_interfaces.h:1847
Data: voltage (PLAYER_POWER_DATA_STATE)
Definition: player_interfaces.h:291
player_bbox2d_t fiducial_size
Dimensions of the fiducials in units of (m).
Definition: player_interfaces.h:1724
struct player_gripper_geom player_gripper_geom_t
Request/reply: get geometry.
double velocity
forward velocity (m/s)
Definition: player_interfaces.h:649
Configuration request: Set imager params.
Definition: player_interfaces.h:1156
Request/reply: Turn power on/off (PLAYER_RANGER_REQ_POWER)
Definition: player_interfaces.h:5019
player_color_t color
the color of the light
Definition: player_interfaces.h:2868
int32_t default_output
default output channel (-1 for none)
Definition: player_interfaces.h:1579
char * name
Identifier for the geometric shape.
Definition: player_interfaces.h:5090
Request/reply: Set position PID parameters.
Definition: player_interfaces.h:3653
uint8_t state
State: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3237
struct player_blinkenlight_cmd_power player_blinkenlight_cmd_power_t
Command: power (PLAYER_BLINKENLIGHT_CMD_POWER) This blinkenlight command turns the light on or off...
Request/reply:
Definition: player_interfaces.h:2278
float period
flash period (duration of one whole on-off cycle) [s].
Definition: player_interfaces.h:2842
struct player_actarray_geom player_actarray_geom_t
Request/reply: get geometry.
uint32_t points_count
Number of points in this packet.
Definition: player_interfaces.h:4182
int32_t autogain
AutoGain: 0=off, 1=on.
Definition: player_interfaces.h:1168
Command: Rotate coordinate system (PLAYER_GRAPHICS3D_CMD_ROTATE) Rotate the current coordinate system...
Definition: player_interfaces.h:4531
double simtime
simulation time when PLAYER_SIMULATION_REQ_GET_POSE3D was serviced.
Definition: player_interfaces.h:2729
struct player_position1d_cmd_pos player_position1d_cmd_pos_t
Command: state (PLAYER_POSITION1D_CMD_POS)
struct player_sonar_data player_sonar_data_t
Data: ranges (PLAYER_SONAR_DATA_RANGES)
uint32_t mac_count
MAC address.
Definition: player_interfaces.h:2273
player_point_3d_t approach
The approach vector of the end effector.
Definition: player_interfaces.h:4042
player_pose3d_t * poses
the pose of each IR detector on this robot
Definition: player_interfaces.h:2133
Request/reply: Control mode.
Definition: player_interfaces.h:1304
float accel_z
The IMU's calibrated acceleration value on Z-axis.
Definition: player_interfaces.h:4677
Data: Stamped range scan (PLAYER_RANGER_DATA_RANGESTAMPED)
Definition: player_interfaces.h:4973
int64_t free
Free memory.
Definition: player_interfaces.h:4590
double err_vert
Vertical error [m].
Definition: player_interfaces.h:1876
Data: state (PLAYER_BUMPER_DATA_GEOM)
Definition: player_interfaces.h:1920
char * name
Identifier for the layer.
Definition: player_interfaces.h:5107
uint32_t num_sats
Number of satellites in view.
Definition: player_interfaces.h:1868
uint32_t id
Blob id.
Definition: player_interfaces.h:1074
float range_res
Range Resolution [m].
Definition: player_interfaces.h:975
struct player_blobfinder_imager_config player_blobfinder_imager_config_t
Configuration request: Set imager params.
Command.
Definition: player_interfaces.h:2692
uint8_t capacity
Capacity for storing objects - if 0, then the gripper can't store.
Definition: player_interfaces.h:445
uint32_t wkb_count
Length of data in bytes.
Definition: player_interfaces.h:5092
struct player_fiducial_fov player_fiducial_fov_t
Request/reply: Get/set sensor field of view.
Data: ranges (PLAYER_IR_DATA_RANGES)
Definition: player_interfaces.h:2113
uint8_t filter_type
Filter type.
Definition: player_interfaces.h:1022
float accel
Acceleration setting in m/s^2 or rad/s^2.
Definition: player_interfaces.h:3956
player_orientation_3d_t base_orientation
The orientation of the base of the actarray.
Definition: player_interfaces.h:3830
player_bbox3d_t size
Size of the detector.
Definition: player_interfaces.h:1722
player_bbox3d_t size
Dimensions of the base (m, m, m).
Definition: player_interfaces.h:2514
uint32_t digout
output bitfield
Definition: player_interfaces.h:2009
uint32_t points_count
Number of points in this packet.
Definition: player_interfaces.h:4208
struct player_audio_sample_rec_req player_audio_sample_rec_req_t
Player audio sample record request.
int64_t used
Used memory.
Definition: player_interfaces.h:4588
uint32_t points_count
Number of points in this packet.
Definition: player_interfaces.h:4510
Data: This interface produces no data.
Definition: player_interfaces.h:4179
player_point_3d_t orientation
Orientation vector.
Definition: player_interfaces.h:4063
uint32_t gmax
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1134
uint32_t bumper_def_count
The number of valid bumper definitions.
Definition: player_interfaces.h:1949
struct player_gripper_data player_gripper_data_t
Data: state (PLAYER_GRIPPER_DATA_STATE)
float ki
PID parameters.
Definition: player_interfaces.h:709
struct player_graphics3d_cmd_rotate player_graphics3d_cmd_rotate_t
Command: Rotate coordinate system (PLAYER_GRAPHICS3D_CMD_ROTATE) Rotate the current coordinate system...
uint32_t prop_count
Length of property identifier.
Definition: player_interfaces.h:2759
float kp
PID parameters.
Definition: player_interfaces.h:707
uint32_t axes_count
Nunber of axes.
Definition: player_interfaces.h:3320
struct player_device_nameservice_req player_device_nameservice_req_t
Nameservice request.
Vectormap info.
Definition: player_interfaces.h:5126
player_wifi_link_t * links
A list of links.
Definition: player_interfaces.h:2250
struct player_planner_waypoints_req player_planner_waypoints_req_t
Request/reply: Get waypoints.
player_vectormap_feature_data_t * features
Array of map features.
Definition: player_interfaces.h:5122
player_devaddr_t devices[PLAYER_MAX_DEVICES]
The list of available devices.
Definition: player_interfaces.h:104
struct player_actarray_actuator player_actarray_actuator_t
Structure containing a single actuator's information.
struct player_limb_brakes_req player_limb_brakes_req_t
Request/reply: Brakes.
struct player_audio_mixer_channel_list_detail player_audio_mixer_channel_list_detail_t
Player mixer channels.
uint32_t positions_count
The number of actuators in the array.
Definition: player_interfaces.h:3851
struct player_ptz_cmd player_ptz_cmd_t
Command: state (PLAYER_PTZ_CMD_STATE)
Data: state (PLAYER_BLINKENLIGHT_DATA_STATE) The blinkenlight data provides the current state of the ...
Definition: player_interfaces.h:2820
struct player_laser_geom player_laser_geom_t
Request/reply: Get geometry.
char ap[32]
MAC address of current access point/cell.
Definition: player_interfaces.h:2266
uint32_t id
The value displayed.
Definition: player_interfaces.h:1761
int32_t waypoint_idx
Current waypoint index (handy if you already have the list of waypoints).
Definition: player_interfaces.h:3129
struct player_bumper_geom player_bumper_geom_t
Data AND Request/reply: bumper geometry.
player_localize_hypoth_t * hypoths
The array of the hypotheses.
Definition: player_interfaces.h:2356
uint8_t * bumpers
array of bumper values
Definition: player_interfaces.h:1925
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:3540
Data: Quaternions orientation data (PLAYER_IMU_DATA_QUAT)
Definition: player_interfaces.h:4696
float pos
(x) [m] or [rad]
Definition: player_interfaces.h:3630
float speed
max speed [m/s]
Definition: player_interfaces.h:718
uint32_t width
The size of the map [pixels].
Definition: player_interfaces.h:3016
struct player_position1d_cmd_vel player_position1d_cmd_vel_t
Command: state (PLAYER_POSITION1D_CMD_VEL)
float minx
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3055
int32_t node_id
The ID of the WSN node.
Definition: player_interfaces.h:4380
float accel_z
The node's acceleration on Z-axis from an acceleration sensor.
Definition: player_interfaces.h:4346
Command: Vector move the end effector (PLAYER_LIMB_CMD_VECMOVE)
Definition: player_interfaces.h:4080
Player audio sequence.
Definition: player_interfaces.h:1502
uint32_t hdop
Horizontal dilution of position (HDOP), times 10.
Definition: player_interfaces.h:1870
uint32_t filename_count
Length of filename.
Definition: player_interfaces.h:3267
double min_range
Minimum range [m].
Definition: player_interfaces.h:4930
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:629
struct player_pointcloud3d_element player_pointcloud3d_element_t
3D Pointcloud element structure An element as stored in a 3D pointcloud, containing a 3D position plu...
Request/reply: Turn power on/off.
Definition: player_interfaces.h:986
struct player_speech_cmd player_speech_cmd_t
Command: say a string (PLAYER_SPEECH_CMD_SAY)
uint32_t value
driver-specific
Definition: player_interfaces.h:3608
struct player_laser_set_filter_config player_laser_set_filter_config_t
Request/reply: Set filter settings.
Structure describing the HEALTH's data packet.
Definition: player_interfaces.h:4594
player_pose2d_t * waypoints
The waypoints.
Definition: player_interfaces.h:3153
uint32_t name_count
Length of name.
Definition: player_interfaces.h:2707
player_health_cpu_t cpu_usage
The current cpu usage.
Definition: player_interfaces.h:4597
struct player_graphics3d_cmd_translate player_graphics3d_cmd_translate_t
Command: Translate coordinate system (PLAYER_GRAPHICS3D_CMD_TRANSLATE) Translate the current coordina...
struct player_imu_datatype_config player_imu_datatype_config_t
Request/reply: change the data type to one of the predefined data structures.
uint32_t currents_count
The number of actuators in the array.
Definition: player_interfaces.h:3904
int32_t group_id
The Group ID of the WSN node.
Definition: player_interfaces.h:4398
player_point_3d_t basePos
The base position of the end-effector in robot coordinates.
Definition: player_interfaces.h:4115
Data: state (PLAYER_STEREO_DATA_STATE)
Definition: player_interfaces.h:5238
player_point_3d_t approach
Approach vector.
Definition: player_interfaces.h:4061
float parameters[PLAYER_LASER_MAX_FILTER_PARAMS]
Filter parameters.
Definition: player_interfaces.h:1026
Data: intensity scan (PLAYER_RANGER_DATA_INTNS)
Definition: player_interfaces.h:4990
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5088
player_pose3d_t pos
(x, y, z, roll, pitch, yaw) position [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2473
uint32_t value
driver-specific
Definition: player_interfaces.h:674
Data: state (PLAYER_GRIPPER_DATA_STATE)
Definition: player_interfaces.h:418
int32_t index
index to set replace rule for (-1 for wildcard)
Definition: player_interfaces.h:237
A rectangular bounding box, used to define the size of an object.
Definition: player.h:241
struct player_map_info player_map_info_t
Data subtype: grid map metadata.
struct player_position2d_speed_prof_req player_position2d_speed_prof_req_t
speed prof req
player_wsn_node_data_t data_packet
The WSN node's data packet.
Definition: player_interfaces.h:4371
struct player_wifi_iwspy_addr_req player_wifi_iwspy_addr_req_t
Request/reply:
uint32_t name_count
Length of name.
Definition: player_interfaces.h:2755
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:2503
player_bbox3d_t inner_size
Inside dimensions of gripper, i.e.
Definition: player_interfaces.h:441
float tiltspeed
Desired tilt velocity [rad/s].
Definition: player_interfaces.h:1262
Request/reply: Set odometry.
Definition: player_interfaces.h:2561
Data: pose-stamped scan (PLAYER_LASER_DATA_SCANPOSE)
Definition: player_interfaces.h:912
Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS)
Definition: player_interfaces.h:1099
struct player_wsn_node_data player_wsn_node_data_t
Structure describing the WSN node's data packet.
struct player_blinkenlight_data player_blinkenlight_data_t
Data: state (PLAYER_BLINKENLIGHT_DATA_STATE) The blinkenlight data provides the current state of the ...
float volts
Battery voltage [V].
Definition: player_interfaces.h:299
float accel_x
The IMU's calibrated acceleration value on X-axis.
Definition: player_interfaces.h:4673
player_pose2d_t pose
(x, y, yaw) [m, m, rad]
Definition: player_interfaces.h:689
struct player_log_set_filename player_log_set_filename_t
Request/reply: Set filename.
uint32_t node_type
The type of WSN node.
Definition: player_interfaces.h:4365
Request/reply: Get/set sensor field of view.
Definition: player_interfaces.h:1733
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, rad).
Definition: player_interfaces.h:658
char * string
The string to say.
Definition: player_interfaces.h:1805
struct player_actarray_current_cmd player_actarray_current_cmd_t
Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT)
float zoom
Field of view [rad].
Definition: player_interfaces.h:1238
player_devaddr_t addr
The device identifier.
Definition: player_interfaces.h:116
struct player_wifi_link player_wifi_link_t
Link information for one host.
Command: Draw polyline (PLAYER_GRAPHICS2D_CMD_POLYLINE) Draw a series of straight line segments betwe...
Definition: player_interfaces.h:4192
struct player_map_data player_map_data_t
Request/reply: get grid map tile.
position2d position command
Definition: player_interfaces.h:626
player_pose3d_t acc
The complete acceleration of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4733
float * speeds
The speed to move with.
Definition: player_interfaces.h:3875
float kp
PID parameters.
Definition: player_interfaces.h:696
double angle
absolute turning angle (rad)
Definition: player_interfaces.h:651
Request/reply:
Definition: player_interfaces.h:2270
uint32_t points_count
Number of points in this packet.
Definition: player_interfaces.h:4195
uint32_t format
Image format (must be compatible with depth).
Definition: player_interfaces.h:2943
float acc
max acceleration [m/s^2] or [rad/s^2]
Definition: player_interfaces.h:3673
player_point_3d_t position
Position of the end effector.
Definition: player_interfaces.h:4073
Data.
Definition: player_interfaces.h:2682
struct player_blobfinder_color_config player_blobfinder_color_config_t
Request/reply: Set tracking color.
float duration
duration [s]
Definition: player_interfaces.h:1489
Data and Request/reply: Get geometry.
Definition: player_interfaces.h:4942
struct player_localize_particle player_localize_particle_t
A particle.
struct player_simulation_pose3d_req player_simulation_pose3d_req_t
Request/reply: get/set 3D pose of a named simulation object.
position2d command setting velocity and steering angle
Definition: player_interfaces.h:637
float pan
Desired pan angle [rad].
Definition: player_interfaces.h:1254
uint32_t waypoints_count
Number of waypoints to follow.
Definition: player_interfaces.h:3151
Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED)
Definition: player_interfaces.h:3870
player_pose3d_t vel
(x, y, z, roll, pitch, yaw) velocity [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2501
struct player_device_auth_req player_device_auth_req_t
Configuration request: Authentication.
Request/reply: Get/set fiducial ID.
Definition: player_interfaces.h:1758
float position
The position to move to.
Definition: player_interfaces.h:3842
player_actarray_actuator_t * actuators
The actuator data.
Definition: player_interfaces.h:3780
float * positions
The positions for each joint/actuator.
Definition: player_interfaces.h:3853
uint8_t caps
Channel type (input, output or special)
Definition: player_interfaces.h:1562
uint32_t rmax
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1130
Request/reply: Change control mode.
Definition: player_interfaces.h:3616
float * ranges
ranges [m]
Definition: player_interfaces.h:2122
player_point_2d_t * points
array of points defining the polygon.
Definition: player_interfaces.h:4210
struct player_camera_data player_camera_data_t
Data: state (PLAYER_CAMERA_DATA_STATE)
uint8_t value
Power setting: 0 for off, 1 for on.
Definition: player_interfaces.h:4400
player_point_3d_t axis
The axis of rotation for this actuator if it is rotary, or axis along which it moves if it is linear...
Definition: player_interfaces.h:3800
float acceleration
The acceleration of the actuator in m/s^2 or rad/s^2 depending on the type.
Definition: player_interfaces.h:3765
struct player_log_get_state player_log_get_state_t
Request/reply: Rewind playback.
float pos
position [m] or [rad]
Definition: player_interfaces.h:3551
position2d velocity mode config
Definition: player_interfaces.h:671
int32_t joint
The joint/actuator to command.
Definition: player_interfaces.h:3840
float * ranges
Range readings [m].
Definition: player_interfaces.h:930
struct player_blobfinder_data player_blobfinder_data_t
Data: detected blobs (PLAYER_BLOBFINDER_DATA_BLOBS)
Data: state (PLAYER_WIFI_DATA_STATE)
Definition: player_interfaces.h:2245
struct player_bumper_define player_bumper_define_t
The geometry of a single bumper.
float scanning_frequency
Scanning frequency [Hz].
Definition: player_interfaces.h:979
float current
The current of the actuator in A.
Definition: player_interfaces.h:3767
Request/reply: Change velocity control.
Definition: player_interfaces.h:2551
float px
X [m].
Definition: player_interfaces.h:5224
Configuration request: Change data delivery mode.
Definition: player_interfaces.h:159
double * ranges
Range readings [m].
Definition: player_interfaces.h:4966
struct player_imu_data_euler player_imu_data_euler_t
Data: Euler orientation data (PLAYER_IMU_DATA_EULER)
Request/reply: Motor power.
Definition: player_interfaces.h:3581
position2d speed PID req
Definition: player_interfaces.h:693
int32_t longitude
Longitude in degrees / 1e7 (units are scaled such that the effective resolution is roughly 1cm)...
Definition: player_interfaces.h:1857
uint32_t voltages_count
number of samples
Definition: player_interfaces.h:2116
uint32_t data_count
Size of data as stored in buffer (bytes)
Definition: player_interfaces.h:3417
int32_t joint
The joint/actuator to command.
Definition: player_interfaces.h:3862
Data: This interface produces no data.
Definition: player_interfaces.h:4505
uint32_t rmin
RGB minimum and max values (0-255)
Definition: player_interfaces.h:1128
struct player_laser_config player_laser_config_t
Request/reply: Get/set scan properties.
struct player_dio_data player_dio_data_t
Data: input values (PLAYER_DIO_DATA_VALUES)
struct player_ptz_geom player_ptz_geom_t
Request/reply: Query geometry.
Request/reply: get grid map tile.
Definition: player_interfaces.h:3032
player_devaddr_t addr
Address of the device.
Definition: player_interfaces.h:143
uint8_t state
FALSE for power off, TRUE for power on.
Definition: player_interfaces.h:2143
Vectormap data.
Definition: player_interfaces.h:5113
position2d position mode request
Definition: player_interfaces.h:679
float idle
The idle cpu load.
Definition: player_interfaces.h:4575
struct player_audio_wav player_audio_wav_t
Data: Raw audio data.
player_pose3d_t pose
Gripper pose, in robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:436
float acc
max acceleration [m/s^2]
Definition: player_interfaces.h:720
uint8_t value
Power setting; 0 for off, 1 for on.
Definition: player_interfaces.h:3921
player_vectormap_layer_info_t * layers
Array of layers.
Definition: player_interfaces.h:5133
Data: Get cloud (PLAYER_POINTCLOUD3D_DATA_STATE) The basic 3dcloudpoint data packet.
Definition: player_interfaces.h:4816
uint32_t actuators_count
The number of actuators in the array.
Definition: player_interfaces.h:3778
player_pose2d_t mean
The mean value of the pose estimate (m, m, rad).
Definition: player_interfaces.h:2336
float light
The node's light measurement from a light sensor.
Definition: player_interfaces.h:4338
Request/reply: Query pan/tilt status.
Definition: player_interfaces.h:1268
struct player_position1d_power_config player_position1d_power_config_t
Request/reply: Motor power.
float max_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:969
float speed
Speed setting in m/s.
Definition: player_interfaces.h:4125
Request/reply: Generic request.
Definition: player_interfaces.h:1290
uint8_t intensity
Enable reflection intensity data.
Definition: player_interfaces.h:977
Data AND Request/reply: geometry.
Definition: player_interfaces.h:786
int32_t group_id
The Group ID of the WSN node.
Definition: player_interfaces.h:4424
struct player_blinkenlight_cmd player_blinkenlight_cmd_t
Command: state (PLAYER_BLINKENLIGHT_CMD_STATE) This blinkenlight command sets the complete current st...
Request/reply: change the data type to RAW or converted engineering units.
Definition: player_interfaces.h:4408
uint32_t ranges_count
number of samples
Definition: player_interfaces.h:2120
struct player_rfid_tag player_rfid_tag_t
Structure describing a single RFID tag.
struct player_audio_mixer_channel_list player_audio_mixer_channel_list_t
Player mixer channels.
Request/reply: get/set a property of a named simulation object.
Definition: player_interfaces.h:2752
Command: flash (PLAYER_BLINKENLIGHT_CMD_FLASH) This blinkenlight command sets the duration of one on/...
Definition: player_interfaces.h:2874
Request/reply: Set playback state.
Definition: player_interfaces.h:3234
player_color_t color
the color of the light
Definition: player_interfaces.h:2829
struct player_graphics2d_cmd_points player_graphics2d_cmd_points_t
Data: This interface produces no data.
float kd
PID parameters.
Definition: player_interfaces.h:2583
float accel_x
The node's acceleration on X-axis from an acceleration sensor.
Definition: player_interfaces.h:4342
struct player_position2d_position_pid_req player_position2d_position_pid_req_t
position2d position pid req
Request/reply: Set position PID parameters.
Definition: player_interfaces.h:2590
double velocity
forward velocity (m/s)
Definition: player_interfaces.h:640
Command: state (PLAYER_POSITION1D_CMD_VEL)
Definition: player_interfaces.h:3535
player_pose2d_t pose
The particle's pose (m,m,rad)
Definition: player_interfaces.h:2376
uint32_t device
The device number.
Definition: player_interfaces.h:4384
uint32_t count
the command
Definition: player_interfaces.h:2007
player_pose2d_t pose
the desired pose in (m, m, rad)
Definition: player_interfaces.h:2711
uint8_t state
The current state of the actuator.
Definition: player_interfaces.h:3769
float kd
PID parameters.
Definition: player_interfaces.h:711
float system
The system cpu load.
Definition: player_interfaces.h:4577
Data: state (PLAYER_CAMERA_DATA_STATE)
Definition: player_interfaces.h:2934
struct player_ranger_geom player_ranger_geom_t
Data and Request/reply: Get geometry.
struct player_ptz_data player_ptz_data_t
Data: state (PLAYER_PTZ_DATA_STATE)
A boolean variable, 0 for false anything else for true.
Definition: player.h:329
float user
The user's cpu load.
Definition: player_interfaces.h:4579
A particle.
Definition: player_interfaces.h:2373
float max_range
The maximum range of the sensor [m].
Definition: player_interfaces.h:1738
uint8_t value
Brake setting; 0 for off, 1 for on.
Definition: player_interfaces.h:3931
float max_range
Maximum range [m].
Definition: player_interfaces.h:895
position2d position pid req
Definition: player_interfaces.h:704
Request/reply: Set velocity PID parameters.
Definition: player_interfaces.h:3638
struct player_graphics3d_cmd_draw player_graphics3d_cmd_draw_t
Data: This interface produces no data.
float max_angle
Start and end angles for the laser scan [rad].
Definition: player_interfaces.h:891
uint32_t channels_count
number of channels in list
Definition: player_interfaces.h:1536
float * ranges
Range readings [m].
Definition: player_interfaces.h:899
player_pose3d_t pos
Pose of the ptz base.
Definition: player_interfaces.h:1279
Structure describing a single RFID tag.
Definition: player_interfaces.h:4265
struct player_position3d_cmd_pos player_position3d_cmd_pos_t
Command: position (PLAYER_POSITION3D_CMD_SET_POS)
uint8_t state
State: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3227
char * name
The identifier of the object we want to locate.
Definition: player_interfaces.h:2757
uint32_t col
The tile origin [pixels].
Definition: player_interfaces.h:3035
position2d command setting velocity and heading
Definition: player_interfaces.h:646
float voltage
Voltage level to set.
Definition: player_interfaces.h:2067
float kd
PID parameters.
Definition: player_interfaces.h:3645
uint32_t state
0 for velocity mode, 1 for position mode
Definition: player_interfaces.h:682
Request/reply: Brakes.
Definition: player_interfaces.h:4103
player_point_3d_t position
The position of the end effector (in robot coordiantes).
Definition: player_interfaces.h:4040
int64_t total
Total memory.
Definition: player_interfaces.h:4586
uint8_t hasbrakes
If the actuator has brakes or not.
Definition: player_interfaces.h:3812
float max_range
Maximum range [m].
Definition: player_interfaces.h:926
uint16_t id
identify the light we are addressing
Definition: player_interfaces.h:2855
float length
length of the sensor [m]
Definition: player_interfaces.h:1934
uint32_t driver_name_count
Length of the driver name.
Definition: player_interfaces.h:118
Data: state (PLAYER_GPS_DATA_STATE)
Definition: player_interfaces.h:1844
player_extent2d_t extent
Boundary area.
Definition: player_interfaces.h:5109
struct player_blinkenlight_cmd_flash player_blinkenlight_cmd_flash_t
Command: flash (PLAYER_BLINKENLIGHT_CMD_FLASH) This blinkenlight command sets the duration of one on/...
char driver_name[PLAYER_MAX_DRIVER_STRING_LEN]
The driver name (returned)
Definition: player_interfaces.h:120
uint32_t width
Image dimensions [pixels].
Definition: player_interfaces.h:2937
Request/reply: get pose.
Definition: player_interfaces.h:2128
uint32_t driver_name_count
Length of driver name.
Definition: player_interfaces.h:147
struct player_dio_cmd player_dio_cmd_t
Command: output values (PLAYER_DIO_CMD_VALUES)
struct player_limb_speed_req player_limb_speed_req_t
Request/reply: Speed.
struct player_position1d_reset_odom_config player_position1d_reset_odom_config_t
Request/reply: Reset odometry.
float resolution
Angular resolution [rad].
Definition: player_interfaces.h:893
uint32_t bpp
Image bits-per-pixel (8, 16, 24, 32).
Definition: player_interfaces.h:2941
player_pose3d_t pose
Pose of the detector in the robot cs.
Definition: player_interfaces.h:1720
Request/reply: set charging policy.
Definition: player_interfaces.h:320
Request/reply: Get geometry.
Definition: player_interfaces.h:948
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition: player_interfaces.h:4715
int32_t brightness
Brightness: (0-255) -1=no change.
Definition: player_interfaces.h:1159
player_bumper_define_t * bumper_def
geometry of each bumper
Definition: player_interfaces.h:1951
uint32_t state
The state of the driver: will be a bitmask of PLAYER_AUDIO_STATE_* values.
Definition: player_interfaces.h:1634
float joules
energy stored [J].
Definition: player_interfaces.h:303
Structure describing a single blob.
Definition: player_interfaces.h:1071
uint32_t time_usec
GPS (UTC) time, in seconds and microseconds since the epoch.
Definition: player_interfaces.h:1849
float magn_x
The IMU's calibrated magnetic value on X-axis.
Definition: player_interfaces.h:4685
uint32_t value
driver-specific
Definition: player_interfaces.h:2554
float pz
Z [m].
Definition: player_interfaces.h:5228
char filename[256]
Filename; max 255 chars + terminating NULL.
Definition: player_interfaces.h:3269
struct player_position1d_velocity_mode_config player_position1d_velocity_mode_config_t
Request/reply: Change velocity control.
struct player_position3d_speed_pid_req player_position3d_speed_pid_req_t
Request/reply: Reset odometry.
uint32_t data_count
The number of cells.
Definition: player_interfaces.h:3043
position2d power config
Definition: player_interfaces.h:664
Data: scan (PLAYER_LASER_DATA_SCANANGLE)
Definition: player_interfaces.h:923
double alpha
The weight coefficient for linear combination (alpha)
Definition: player_interfaces.h:2378
3D Pointcloud element structure An element as stored in a 3D pointcloud, containing a 3D position plu...
Definition: player_interfaces.h:4798
float length
The length of this actuator's link to the next actuator.
Definition: player_interfaces.h:3792
char address[32]
Address ??
Definition: player_interfaces.h:2281
player_segment_t * segments
Line segments.
Definition: player_interfaces.h:3065
struct player_vectormap_info player_vectormap_info_t
Vectormap info.
struct player_position2d_power_config player_position2d_power_config_t
position2d power config
int32_t joint
The joint/actuator to command - set to -1 to command all.
Definition: player_interfaces.h:3893
struct player_wsn_cmd player_wsn_cmd_t
Command: set device state (PLAYER_WSN_CMD_DEVSTATE) This wsn command sets the state of the node's ind...
float length
Distance to move.
Definition: player_interfaces.h:4085
float speed
max speed [rad/s]
Definition: player_interfaces.h:2607
struct player_stereo_data player_stereo_data_t
Data: state (PLAYER_STEREO_DATA_STATE)
player_point_3d_t orientation
The orientation vector of the end effector (a vector in a predefined direction on the end effector...
Definition: player_interfaces.h:4046
float kd
PID parameters.
Definition: player_interfaces.h:2597
int32_t altitude
Altitude, in millimeters.
Definition: player_interfaces.h:1860
uint8_t type
The type of the actuator - linear or rotary.
Definition: player_interfaces.h:3789
uint32_t buttons
Button states (bitmask)
Definition: player_interfaces.h:3318
uint32_t width
The image dimensions.
Definition: player_interfaces.h:1102
float speed
The speed of the actuator in m/s or rad/s depending on the type.
Definition: player_interfaces.h:3763
struct player_imu_data_calib player_imu_data_calib_t
Data: calibrated IMU data (PLAYER_IMU_DATA_CALIB)
Command: Set end effector position (PLAYER_LIMB_CMD_SETPOSITION)
Definition: player_interfaces.h:4070
player_audio_seq_item_t * tones
the tones
Definition: player_interfaces.h:1507
uint32_t image_count
Size of image data as stored in image buffer (bytes)
Definition: player_interfaces.h:2952
double utm_n
UTM WGS84 coordinates, northing [m].
Definition: player_interfaces.h:1864
float vel
velocity [m/s] or [rad/s]
Definition: player_interfaces.h:3538
A pose in space.
Definition: player.h:224
struct player_actarray_home_cmd player_actarray_home_cmd_t
Command: Joint home (PLAYER_CMD_ACTARRAY_HOME)
Request/reply: get vector map.
Definition: player_interfaces.h:3052
float home
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3808
uint8_t have_config
If non-zero, the configuration data has been filled.
Definition: player_interfaces.h:4982
struct player_audio_state player_audio_state_t
Player audio driver state.
player_audio_wav_t sample
the audio sample data
Definition: player_interfaces.h:1595
Request/reply: Get geometry.
Definition: player_interfaces.h:1717
uint32_t bitrate
current bitrate of device
Definition: player_interfaces.h:2254
struct player_actarray_speed_cmd player_actarray_speed_cmd_t
Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED)
uint8_t red
Red color channel.
Definition: player_interfaces.h:5230
uint8_t state
Turn power off TRUE or FALSE.
Definition: player_interfaces.h:801
uint8_t cmd
A single byte of as-yet-unspecified command.
Definition: player_interfaces.h:2695
float * ranges
The range readings [m].
Definition: player_interfaces.h:777
player_pose3d_t pose
Pose of the robot base, in the robot cs (m, m, m, rad, rad, rad).
Definition: player_interfaces.h:2512
uint32_t y
The blob centroid [pixels].
Definition: player_interfaces.h:1083
double range_res
Range resolution [m].
Definition: player_interfaces.h:4934
player_point_3d_t direction
Direction vector to move in.
Definition: player_interfaces.h:4083
float max
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3806
float ki
PID parameters.
Definition: player_interfaces.h:2595
uint32_t length
Length of sample to record in ms.
Definition: player_interfaces.h:1622
Request/reply: Get particles.
Definition: player_interfaces.h:2386
uint8_t auth_key[PLAYER_KEYLEN]
The authentication key.
Definition: player_interfaces.h:203
struct player_power_chargepolicy_config player_power_chargepolicy_config_t
Request/reply: set charging policy.
position2d data
Definition: player_interfaces.h:606
uint32_t layers_count
The number of layers.
Definition: player_interfaces.h:5131
struct player_position3d_set_odom_req player_position3d_set_odom_req_t
Request/reply: Set odometry.
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5116
uint8_t valid
Did the planner find a valid path?
Definition: player_interfaces.h:3117
double frequency
Scanning frequency [Hz].
Definition: player_interfaces.h:4936
Request/reply: Turn intensity data on/off for devices that provide it (PLAYER_RANGER_REQ_INTNS) ...
Definition: player_interfaces.h:5031
struct player_aio_data player_aio_data_t
Data: state (PLAYER_AIO_DATA_STATE)
uint8_t stored
Number of currently stored objects.
Definition: player_interfaces.h:425
Data: scan (PLAYER_LASER_DATA_SCAN)
Definition: player_interfaces.h:886
Request/reply: Set the robot pose estimate.
Definition: player_interfaces.h:2363
int32_t joint
Joint to set acceleration for.
Definition: player_interfaces.h:3954
float period
flash period (duration of one whole on-off cycle) [s].
Definition: player_interfaces.h:2825
float * angles
Angle readings [m].
Definition: player_interfaces.h:934
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:3555
Device configuration request (PLAYER_RANGER_REQ_GET_CONFIG)
Definition: player_interfaces.h:4920
float gyro_x
The IMU's calibrated gyro value on X-axis.
Definition: player_interfaces.h:4679
player_pose3d_t pose
Fiducial pose relative to the detector.
Definition: player_interfaces.h:1694
uint32_t height
The image dimensions.
Definition: player_interfaces.h:1104
uint32_t intensities_count
Number of intensity readings.
Definition: player_interfaces.h:4993
uint32_t string_count
Length of string.
Definition: player_interfaces.h:1803
A point in 3D space.
Definition: player.h:190
player_color_t color
Color in which the line should be drawn.
Definition: player_interfaces.h:4199
uint32_t value
0 for velocity mode, 1 for position mode
Definition: player_interfaces.h:2541
uint8_t enable
The state: 0=disabled, 1=enabled.
Definition: player_interfaces.h:4386
struct player_imu_reset_orientation_config player_imu_reset_orientation_config_t
Request/reply: Reset orientation.
uint32_t width
The size of the tile [pixels].
Definition: player_interfaces.h:3039
Data: state (PLAYER_POSITION1D_DATA_STATE)
Definition: player_interfaces.h:3507
Info on a single detected fiducial.
Definition: player_interfaces.h:1688
uint8_t value
Power setting; 0 for off, 1 for on.
Definition: player_interfaces.h:4096
uint32_t value_count
The length of the value data in bytes.
Definition: player_interfaces.h:2765
uint32_t area
The blob area [pixels].
Definition: player_interfaces.h:1079
uint32_t top
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1089
Request/reply: set power.
Definition: player_interfaces.h:2140
uint32_t ranges_count
Number of range readings.
Definition: player_interfaces.h:897
double pending_time
The time stamp of the last observation processed.
Definition: player_interfaces.h:2352
Vectormap feature data.
Definition: player_interfaces.h:5085
double x
angle to rotate in radians
Definition: player_interfaces.h:4534
Player audio driver state.
Definition: player_interfaces.h:1631
int32_t group_id
The Group ID of the WSN node.
Definition: player_interfaces.h:4382
Request/reply: Query geometry.
Definition: player_interfaces.h:2509
uint8_t filled
If non-zero, the polygon should be drawn filled, else empty.
Definition: player_interfaces.h:4216
uint8_t mode
The requested mode.
Definition: player_interfaces.h:162
struct player_graphics2d_cmd_polygon player_graphics2d_cmd_polygon_t
Command: Draw polygon (PLAYER_GRAPHICS2D_CMD_POLYGON) Draw a polygon.
uint32_t valid
Status bits.
Definition: player_interfaces.h:296
Request/reply: Set speed profile parameters.
Definition: player_interfaces.h:2604
int32_t contrast
Contrast: (0-255) -1=no change.
Definition: player_interfaces.h:1161
uint8_t state
The gripper's state.
Definition: player_interfaces.h:421
uint32_t blobs_count
The number of blobs.
Definition: player_interfaces.h:1106
int32_t scale[8]
Scaling factors for X, Y and Yaw — not using these yet.
Definition: player_interfaces.h:3316
double angle
relative turning angle (rad)
Definition: player_interfaces.h:642
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4729
Request/reply: get/set 2D pose of a named simulation object.
Definition: player_interfaces.h:2704
struct player_laser_data_scanangle player_laser_data_scanangle_t
Data: scan (PLAYER_LASER_DATA_SCANANGLE)
Request/reply: Get the list of available devices.
Definition: player_interfaces.h:99
double max_range
Maximum range [m].
Definition: player_interfaces.h:4932
uint8_t value
Data type setting: 1 for pose/orientation, 2 for calibrated (raw) data, 3 for quaternions, 4 for Euler.
Definition: player_interfaces.h:4750
Data: Raw audio data.
Definition: player_interfaces.h:1466
struct player_actarray_power_config player_actarray_power_config_t
Request/reply: Power.
int32_t node_id
The ID of the WSN node.
Definition: player_interfaces.h:4396
Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS)
Definition: player_interfaces.h:3848
char * text
Recognized text.
Definition: player_interfaces.h:3365
float accel_y
The IMU's calibrated acceleration value on Y-axis.
Definition: player_interfaces.h:4675
struct player_opaque_data player_opaque_data_t
data
int32_t id
The fiducial id.
Definition: player_interfaces.h:1692
Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT)
Definition: player_interfaces.h:3901
uint32_t bottom
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1091
float gyro_z
The IMU's calibrated gyro value on Z-axis.
Definition: player_interfaces.h:4683
struct player_simulation_data player_simulation_data_t
Data.
struct player_imu_data_fullstate player_imu_data_fullstate_t
Data: all of the calibrated IMU data (PLAYER_IMU_DATA_FULLSTATE)
float min_range
The minimum range of the sensor [m].
Definition: player_interfaces.h:1736
player_pose2d_t pos
position [m,m,rad] (x, y, yaw)
Definition: player_interfaces.h:609
struct player_map_data_vector player_map_data_vector_t
Request/reply: get vector map.
struct player_ranger_power_config player_ranger_power_config_t
Request/reply: Turn power on/off (PLAYER_RANGER_REQ_POWER)
uint32_t quality
Quality of fix 0 = invalid, 1 = GPS fix, 2 = DGPS fix.
Definition: player_interfaces.h:1866
double y
x component of the vector around which we rotate
Definition: player_interfaces.h:4535
struct player_bumper_data player_bumper_data_t
Data: state (PLAYER_BUMPER_DATA_GEOM)
uint8_t have_config
If non-zero, the configuration data has been filled.
Definition: player_interfaces.h:5011
uint32_t intensity_count
Number of intensity readings.
Definition: player_interfaces.h:901
char driver_name[PLAYER_MAX_DRIVER_STRING_LEN]
The name of the underlying driver.
Definition: player_interfaces.h:149
player_pose3d_t * poses
Pose of each sonar, in robot cs.
Definition: player_interfaces.h:791
player_imu_data_calib_t calib_data
Calibrated IMU data (accel, gyro, magnetometer)
Definition: player_interfaces.h:4699
struct player_laser_data player_laser_data_t
Data: scan (PLAYER_LASER_DATA_SCAN)
Request/reply: Change velocity control.
Definition: player_interfaces.h:3595
uint8_t access
The requested / granted access.
Definition: player_interfaces.h:145
char * name
the identifier of the object we want to locate
Definition: player_interfaces.h:2725
uint8_t value
Data type setting: 0 for RAW values, 1 for converted units.
Definition: player_interfaces.h:4411
uint8_t have_geom
If non-zero, the geometry data has been filled.
Definition: player_interfaces.h:4978
struct player_actarray_multi_position_cmd player_actarray_multi_position_cmd_t
Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS)
Command: say a string (PLAYER_SPEECH_CMD_SAY)
Definition: player_interfaces.h:1800
struct player_position1d_geom player_position1d_geom_t
Request/reply: Query geometry.
uint8_t type
The type of log device, either PLAYER_LOG_TYPE_READ or PLAYER_LOG_TYPE_WRITE.
Definition: player_interfaces.h:3255
Command: position (PLAYER_POSITION3D_CMD_SET_POS)
Definition: player_interfaces.h:2484
uint32_t vdop
Vertical dilution of position (VDOP), times 10.
Definition: player_interfaces.h:1872
player_pose2d_t pos
Current location (m,m,rad)
Definition: player_interfaces.h:3121
Request/reply: Reset odometry.
Definition: player_interfaces.h:3605
int32_t charging
charge exchange status: if 1, the device is currently receiving charge from another energy device...
Definition: player_interfaces.h:311
player_ranger_data_range_t data
The scan data.
Definition: player_interfaces.h:4976
struct player_audio_sample_item player_audio_sample_item_t
Player audio sample selection.
float kd
PID parameters.
Definition: player_interfaces.h:700
uint32_t speeds_count
The number of actuators in the array.
Definition: player_interfaces.h:3873
struct player_localize_get_particles player_localize_get_particles_t
Request/reply: Get particles.
uint32_t right
Bounding box for the blob [pixels].
Definition: player_interfaces.h:1087
Player mixer channel detail.
Definition: player_interfaces.h:1555
Data: state (PLAYER_JOYSTICK_DATA_STATE)
Definition: player_interfaces.h:3311
struct player_rfid_data player_rfid_data_t
Data.
float watts
estimated current energy consumption (negative values) or aquisition (positive values) [W]...
Definition: player_interfaces.h:306
struct player_actarray_data player_actarray_data_t
Data: state (PLAYER_ACTARRAY_DATA_STATE)
float tiltspeed
Current tilt velocity [rad/s].
Definition: player_interfaces.h:1242
uint32_t status
Current pan / tilt status.
Definition: player_interfaces.h:1244
float freq
Frequency of the note [Hz].
Definition: player_interfaces.h:1487
float vel
velocity at which to move to the position [m/s] or [rad/s]
Definition: player_interfaces.h:3553
uint32_t guid_count
GUID count.
Definition: player_interfaces.h:4270
uint32_t name_count
name length
Definition: player_interfaces.h:1558
int32_t joint
The joint/actuator to command - set to -1 to command all.
Definition: player_interfaces.h:3884
struct player_limb_geom_req player_limb_geom_req_t
Request/reply: get geometry.
player_orientation_3d_t orientation
Orientation data as Euler angles.
Definition: player_interfaces.h:4718
double z
y component of the vector around which we rotate
Definition: player_interfaces.h:4536
Request/reply: change the data type to one of the predefined data structures.
Definition: player_interfaces.h:4745
Player audio sample.
Definition: player_interfaces.h:1592
Player mixer channels.
Definition: player_interfaces.h:1572
uint32_t element_sizes_count
Number of individual elements that make up the device.
Definition: player_interfaces.h:4953
Request/reply: Change data delivery frequency.
Definition: player_interfaces.h:4419
struct player_wifi_data player_wifi_data_t
Data: state (PLAYER_WIFI_DATA_STATE)
Data: state (PLAYER_ACTARRAY_DATA_STATE)
Definition: player_interfaces.h:3775
uint16_t id
identify the light we are addressing
Definition: player_interfaces.h:2877
uint8_t state
The state of the limb.
Definition: player_interfaces.h:4048
struct player_position2d_cmd_pos player_position2d_cmd_pos_t
position2d position command
uint32_t intensity_count
Number of intensity readings.
Definition: player_interfaces.h:936
struct player_wsn_datafreq_config player_wsn_datafreq_config_t
Request/reply: Change data delivery frequency.
Data: input values (PLAYER_DIO_DATA_VALUES)
Definition: player_interfaces.h:1992
float min
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3802
uint32_t format
Raw data format.
Definition: player_interfaces.h:1473
float maxy
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3061
player_audio_mixer_channel_detail_t * details
the tones
Definition: player_interfaces.h:1577
uint8_t enable_output
uint8_tean controlling whether others can recharge from this device.
Definition: player_interfaces.h:327
player_pose3d_t pose
The complete pose of the IMU in 3D coordinates + angles.
Definition: player_interfaces.h:4663
Request/reply: Set linear speed profile parameters.
Definition: player_interfaces.h:3668
player_pose3d_t pos
(x, y, z, roll, pitch, yaw) position [m, m, m, rad, rad, rad]
Definition: player_interfaces.h:2487
A line segment, used to construct vector-based maps.
Definition: player.h:287
float miny
The minimum and maximum coordinates of all the line segments [meters].
Definition: player_interfaces.h:3059
float config_speed
The configured speed setting of the actuator - different from current speed.
Definition: player_interfaces.h:3810
player_orientation_3d_t orientation
The orientation of this actuator when it is in its rest position.
Definition: player_interfaces.h:3797
Request/reply: Query geometry.
Definition: player_interfaces.h:1276
struct player_actarray_accel_config player_actarray_accel_config_t
Request/reply: Acceleration.
struct player_ptz_req_control_mode player_ptz_req_control_mode_t
Request/reply: Control mode.
uint8_t enable
FALSE: off, TRUE: on.
Definition: player_interfaces.h:2857
struct player_limb_setposition_cmd player_limb_setposition_cmd_t
Command: Set end effector position (PLAYER_LIMB_CMD_SETPOSITION)
struct player_actarray_brakes_config player_actarray_brakes_config_t
Request/reply: Brakes.
The geometry of a single bumper.
Definition: player_interfaces.h:1929
player_color_t color
the color of the light
Definition: player_interfaces.h:2846
float zoom
Desired field of view [rad].
Definition: player_interfaces.h:1258
struct player_position2d_cmd_vel player_position2d_cmd_vel_t
position 2d velocity command
uint32_t compression
Image compression; PLAYER_CAMERA_COMPRESS_RAW indicates no compression.
Definition: player_interfaces.h:2950
double angular_res
Scan resolution [rad].
Definition: player_interfaces.h:4927
Data: state (PLAYER_AIO_DATA_STATE)
Definition: player_interfaces.h:2051
float centre
The range of motion of the actuator, in m or rad depending on the type.
Definition: player_interfaces.h:3804
uint32_t devices_count
The number of devices.
Definition: player_interfaces.h:102
struct player_ptz_req_status player_ptz_req_status_t
Request/reply: Query pan/tilt status.
struct player_limb_data player_limb_data_t
Data: state (PLAYER_LIMB_DATA)
Request/reply: Get waypoints.
Definition: player_interfaces.h:3148
float magn_y
The node's magnetic measurement on Y-axis from a magnetometer.
Definition: player_interfaces.h:4350
player_bbox3d_t size
Dimensions of the base (m, m, m).
Definition: player_interfaces.h:3567
float pos
position [m] or [rad] depending on actuator type
Definition: player_interfaces.h:3510
float speed
max speed [m/s] or [rad/s]
Definition: player_interfaces.h:3671
float magn_x
The node's magnetic measurement on X-axis from a magnetometer.
Definition: player_interfaces.h:4348
Configuration request: Add client queue replace rule.
Definition: player_interfaces.h:232
uint32_t draw_mode
The drawing mode defining how teh verticies should be interpreted.
Definition: player_interfaces.h:4508
Data: state (PLAYER_PTZ_DATA_STATE)
Definition: player_interfaces.h:1231
struct player_device_datamode_req player_device_datamode_req_t
Configuration request: Change data delivery mode.
Player mixer channel.
Definition: player_interfaces.h:1516
double err_horz
Horizonal error [m].
Definition: player_interfaces.h:1874
uint32_t name_count
Length of name in bytes.
Definition: player_interfaces.h:5105
Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS)
Definition: player_interfaces.h:2347
float resolution
Scan resolution [rad].
Definition: player_interfaces.h:971
struct player_simulation_cmd player_simulation_cmd_t
Command.
uint8_t * data
raw data
Definition: player_interfaces.h:1471
char * name
the identifier of the object we want to locate
Definition: player_interfaces.h:2709
struct player_device_devlist player_device_devlist_t
Request/reply: Get the list of available devices.
Player mixer channels.
Definition: player_interfaces.h:1533
float magn_z
The node's magnetic measurement on Z-axis from a magnetometer.
Definition: player_interfaces.h:4352
enum player_graphics3d_draw_mode player_graphics3d_draw_mode_t
Drawmode: enumeration that defines the drawing mode.
uint8_t enable_input
uint8_tean controlling recharging.
Definition: player_interfaces.h:324
player_ranger_geom_t geom
The geometry of the device at the time the scan was acquired.
Definition: player_interfaces.h:5009
float kp
PID parameters.
Definition: player_interfaces.h:2579
Definition: player_interfaces.h:5221
struct player_graphics2d_cmd_polyline player_graphics2d_cmd_polyline_t
Command: Draw polyline (PLAYER_GRAPHICS2D_CMD_POLYLINE) Draw a series of straight line segments betwe...
struct player_position2d_cmd_vel_head player_position2d_cmd_vel_head_t
position2d command setting velocity and heading
struct player_ir_data player_ir_data_t
Data: ranges (PLAYER_IR_DATA_RANGES)
#define PLAYER_KEYLEN
Length of authentication key.
Definition: player.h:78
uint8_t state
Logging/playback state: FALSE=disabled, TRUE=enabled.
Definition: player_interfaces.h:3257
Data (PLAYER_WSN_DATA)
Definition: player_interfaces.h:4362
struct player_position2d_set_odom_req player_position2d_set_odom_req_t
set odometry
char * guid
The Globally Unique IDentifier (GUID) of the tag.
Definition: player_interfaces.h:4272
uint8_t state
Motor state (FALSE is either off or locked, depending on the driver).
Definition: player_interfaces.h:2491
player_bbox3d_t outer_size
Outside dimensions of gripper (m, m, m).
Definition: player_interfaces.h:438
int32_t index
Index to store at (-1 for next available).
Definition: player_interfaces.h:1620
struct player_planner_data player_planner_data_t
Data: state (PLAYER_PLANNER_DATA_STATE)
Request/reply: Acceleration.
Definition: player_interfaces.h:3951
Hypothesis format.
Definition: player_interfaces.h:2333
float view_angle
The receptive angle of the sensor [rad].
Definition: player_interfaces.h:1740
Request/reply: Get the driver name for a particular device.
Definition: player_interfaces.h:113
speed prof req
Definition: player_interfaces.h:715
Request/reply: Speed.
Definition: player_interfaces.h:3938
struct player_health_memory player_health_memory_t
Structure describing the memory.
Data: ranges (PLAYER_SONAR_DATA_RANGES)
Definition: player_interfaces.h:772
int32_t latitude
Latitude in degrees / 1e7 (units are scaled such that the effective resolution is roughly 1cm)...
Definition: player_interfaces.h:1853
uint32_t index
Index for properties with multiples values (arrays...)
Definition: player_interfaces.h:2763
uint32_t id
Which I/O output to command.
Definition: player_interfaces.h:2065
int32_t subtype
message subtype to set replace rule for (-1 for wildcard)
Definition: player_interfaces.h:241
Request/reply: Reset orientation.
Definition: player_interfaces.h:4757
Data: state (PLAYER_PLANNER_DATA_STATE)
Definition: player_interfaces.h:3114
uint8_t state
FALSE for off, TRUE for on.
Definition: player_interfaces.h:3584
uint32_t attrib_count
Length of data in bytes.
Definition: player_interfaces.h:5097
Configuration request: Authentication.
Definition: player_interfaces.h:198
struct player_blinkenlight_cmd_color player_blinkenlight_cmd_color_t
Command: color (PLAYER_BLINKENLIGHT_CMD_COLOR) This blinkenlight command sets the color of the light...

Last updated 12 September 2005 21:38:45