position
[Device proxies]
Detailed Description
The position proxy provides backward compatibility for pre-Player 2.0 client code.New code should use the position2d proxy instead.
Typedefs | |
| typedef playerc_position2d_t | playerc_position_t |
| Position device data. | |
Functions | |
| playerc_position_t * | playerc_position_create (playerc_client_t *client, int index) |
| Create a position device proxy. | |
| void | playerc_position_destroy (playerc_position_t *device) |
| Destroy a position device proxy. | |
| int | playerc_position_subscribe (playerc_position_t *device, int access) |
| Subscribe to the position device. | |
| int | playerc_position_unsubscribe (playerc_position_t *device) |
| Un-subscribe from the position device. | |
| int | playerc_position_enable (playerc_position_t *device, int enable) |
| Enable/disable the motors. | |
| int | playerc_position_get_geom (playerc_position_t *device) |
| Get the position geometry. | |
| int | playerc_position_set_cmd_vel (playerc_position_t *device, double vx, double vy, double va, int state) |
| Set the target speed. | |
| int | playerc_position_set_cmd_pose (playerc_position_t *device, double gx, double gy, double ga, int state) |
| Set the target pose (gx, gy, ga) is the target pose in the odometric coordinate system. | |
| int | playerc_position_set_odom (playerc_position_t *device, double ox, double oy, double oa) |
| Set the odometric offset. | |
Function Documentation
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Get the position geometry. The writes the result into the proxy rather than returning it to the caller. |
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Set the target speed. vx : forward speed (m/s). vy : sideways speed (m/s); this field is used by omni-drive robots only. va : rotational speed (rad/s). All speeds are defined in the robot coordinate system. |