The following type:subtype position2d messages can be logged:
- 1:1 (PLAYER_POSITION2D_DATA_STATE) Odometry information. The format is:
- px (float): X coordinate of the device's pose, in meters
- py (float): Y coordinate of the device's pose, in meters
- pa (float): yaw coordinate of the device's pose, in radians
- vx (float): X coordinate of the device's velocity, in meters/sec
- vy (float): Y coordinate of the device's velocity, in meters/sec
- va (float): yaw coordinate of the device's velocity, in radians/sec
- stall (int): Motor stall flag
- 4:0 (PLAYER_POSITION2D_REQ_GET_GEOM) Geometry info. The format is:
- px (float): X coordinate of the offset of the device's center of rotation, in meters
- py (float): Y coordinate of the offset of the device's center of rotation, in meters
- pa (float): yaw coordinate of the offset of the device's center of rotation, in radians
- sx (float): The device's length, in meters
- sy (float): The device's width, in meters
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Last updated 12 September 2005 21:38:45
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