javaclient
Class Position3DInterface

java.lang.Object
  javaclient.PlayerDevice
      javaclient.AbstractPositionDevice
          javaclient.Position3DInterface

public class Position3DInterface
extends AbstractPositionDevice

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

Version:

• v1.6.3 - Player 1.6.3 (all interfaces) supported
• v1.6.2 - Player 1.6.2 supported, Javadoc documentation, several bugfixes

Author:

Radu Bogdan Rusu

Field Summary

protected short	PLAYER_POSITION3D_GET_GEOM_REQ
protected short	PLAYER_POSITION3D_MOTOR_POWER_REQ
protected short	PLAYER_POSITION3D_POSITION_MODE_REQ
protected short	PLAYER_POSITION3D_POSITION_PID_REQ
protected short	PLAYER_POSITION3D_RESET_ODOM_REQ
protected short	PLAYER_POSITION3D_SET_ODOM_REQ
protected short	PLAYER_POSITION3D_SPEED_PID_REQ
protected short	PLAYER_POSITION3D_SPEED_PROF_REQ
protected short	PLAYER_POSITION3D_VELOCITY_MODE_REQ

Fields inherited from class javaclient.PlayerDevice

device, DIFFERENCE_SYNCH_FACTOR, index, is, os, pc, PLAYER_MAX_REQREP_SIZE, PLAYER_STXX, reserved, size, t_sec, t_usec, ts_sec, ts_usec

Constructor Summary

Position3DInterface(PlayerClient pc, short indexOfDevice)
Constructor for Position3DInterface.

Method Summary

void	changePositionControl(byte state) Configuration request: Change position control.
PlayerPosition3DGeomT	getGeom() Get the geometry data.
int	getPitch() Get angular velocity (pitch) in mrad.
int	getPitchSpeed() Get angular velocity (pitch) in mrad/sec.
int	getRoll() Get angular velocity (roll) in mrad.
int	getRollSpeed() Get angular velocity (roll) in mrad/sec.
byte	getStall() Get motors status.
int	getX() Get X position in mm.
int	getXSpeed() Get X translational velocity in mm/sec.
int	getY() Get Y position in mm.
int	getYaw() Get angular velocity (yaw) in mrad.
int	getYawSpeed() Get angular velocity (yaw) in mrad/sec.
int	getYSpeed() Get Y translational velocity in mm/sec.
int	getZ() Get Z position in mm.
int	getZSpeed() Get Z translational velocity in mm/sec.
void	handleEARMessage() Handle Error Acknowledgement Response messages.
void	handleNARMessage() Handle Negative Acknowledgement Response messages.
void	handleResponse(int size) Handle acknowledgement response messages (threaded mode).
boolean	isGeomReady() Check if geometry data is available.
void	queryGeometry() Configuration request: Query geometry.
void	readData() This interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information (xPos, yPos, zPos, roll, pitch, yaw, xSpeed, ySpeed, zSpeed, rollSpeed, pitchSpeed, yawSpeed, stall).
void	resetOdometry() Configuration request: Reset odometry.
void	setMotorPower(int state) Configuration request: Motor power.
void	setOdometry(int xP, int yP, int zP, int rollP, int pitchP, int yawP) Configuration request: Set odometry.
void	setPosition(int xP, int yP, int zP) Send position commands.
void	setPosition(int xP, int yP, int zP, int pitchP, int rollP, int yawP) Send position commands.
void	setPosition(int xP, int yP, int zP, int pitchP, int rollP, int yawP, int xS, int yS, int zS, int pitchS, int rollS, int yawS, byte state, byte type) The position interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).
void	setPositionPIDParams(int kp, int ki, int kd) Configuration request: Set position PID parameters.
void	setSpeed(int xS, int yS) Set speed and turnrate.
void	setSpeed(int xS, int yS, int zS) Set speed and turnrate.
void	setSpeed(int xS, int yS, int zS, int pitchS, int rollS, int yawS) Set speed, turnrate and sideSpeed.
void	setSpeedProfileParams(int sp, int acc) Configuration request: Set speed profile parameters.
void	setVelocityControl(byte value) Configuration request: Change velocity control.
void	setVelocityPIDParams(int kp, int ki, int kd) Configuration request: Set velocity PID parameters.

Methods inherited from class javaclient.PlayerDevice

getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, readHeader, sendHeader

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

PLAYER_POSITION3D_GET_GEOM_REQ

protected final short PLAYER_POSITION3D_GET_GEOM_REQ

See Also:

Constant Field Values

PLAYER_POSITION3D_MOTOR_POWER_REQ

protected final short PLAYER_POSITION3D_MOTOR_POWER_REQ

See Also:

Constant Field Values

PLAYER_POSITION3D_VELOCITY_MODE_REQ

protected final short PLAYER_POSITION3D_VELOCITY_MODE_REQ

See Also:

Constant Field Values

PLAYER_POSITION3D_RESET_ODOM_REQ

protected final short PLAYER_POSITION3D_RESET_ODOM_REQ

See Also:

Constant Field Values

PLAYER_POSITION3D_POSITION_MODE_REQ

protected final short PLAYER_POSITION3D_POSITION_MODE_REQ

See Also:

Constant Field Values

PLAYER_POSITION3D_SPEED_PID_REQ

protected final short PLAYER_POSITION3D_SPEED_PID_REQ

See Also:

Constant Field Values

PLAYER_POSITION3D_POSITION_PID_REQ

protected final short PLAYER_POSITION3D_POSITION_PID_REQ

See Also:

Constant Field Values

PLAYER_POSITION3D_SPEED_PROF_REQ

protected final short PLAYER_POSITION3D_SPEED_PROF_REQ

See Also:

Constant Field Values

PLAYER_POSITION3D_SET_ODOM_REQ

protected final short PLAYER_POSITION3D_SET_ODOM_REQ

See Also:

Constant Field Values

Constructor Detail

Position3DInterface

public Position3DInterface(PlayerClient pc,
                           short indexOfDevice)

Constructor for Position3DInterface.

Parameters:

pc - a reference to the PlayerClient object

indexOfDevice - the index of the device

Method Detail

readData

public void readData()

This interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information (xPos, yPos, zPos, roll, pitch, yaw, xSpeed, ySpeed, zSpeed, rollSpeed, pitchSpeed, yawSpeed, stall).

Overrides:

readData in class PlayerDevice

getX

public int getX()

Get X position in mm.

Specified by:

getX in class AbstractPositionDevice

Returns:

X position in mm

getY

public int getY()

Get Y position in mm.

Specified by:

getY in class AbstractPositionDevice

Returns:

Y position in mm

getZ

public int getZ()

Get Z position in mm.

Returns:

Z position in mm

getRoll

public int getRoll()

Get angular velocity (roll) in mrad.

Returns:

angular velocity (roll) in mrad

getPitch

public int getPitch()

Get angular velocity (pitch) in mrad.

Returns:

angular velocity (pitch) in mrad

getYaw

public int getYaw()

Get angular velocity (yaw) in mrad.

Specified by:

getYaw in class AbstractPositionDevice

Returns:

angular velocity (yaw) in mrad

getXSpeed

public int getXSpeed()

Get X translational velocity in mm/sec.

Returns:

X translational velocity in mm/sec

getYSpeed

public int getYSpeed()

Get Y translational velocity in mm/sec.

Returns:

Y translational velocity in mm/sec

getZSpeed

public int getZSpeed()

Get Z translational velocity in mm/sec.

Returns:

Z translational velocity in mm/sec

getRollSpeed

public int getRollSpeed()

Get angular velocity (roll) in mrad/sec.

Returns:

angular velocity (roll) in mrad/sec

getPitchSpeed

public int getPitchSpeed()

Get angular velocity (pitch) in mrad/sec.

Returns:

angular velocity (pitch) in mrad/sec

getYawSpeed

public int getYawSpeed()

Get angular velocity (yaw) in mrad/sec.

Returns:

angular velocity (yaw) in mrad/sec

getStall

public byte getStall()

Get motors status.

Returns:

stalled or not?

setPosition

public void setPosition(int xP,
                        int yP,
                        int zP,
                        int pitchP,
                        int rollP,
                        int yawP,
                        int xS,
                        int yS,
                        int zS,
                        int pitchS,
                        int rollS,
                        int yawS,
                        byte state,
                        byte type)

The position interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).

See the player_position3d_cmd structure from player.h

Parameters:

xP - X position in mm

yP - Y position in mm

zP - Z position in mm

pitchP - angular velocity (pitch) in mrad

rollP - angular velocity (roll) in mrad

yawP - angular velocity (yaw) in mrad

xS - X translational velocity in mm/sec

yS - Y translational velocity in mm/sec

zS - Z translational velocity in mm/sec

pitchS - angular velocity (pitch) in mrad/sec

rollS - angular velocity (roll) in mrad/sec

yawS - angular velocity (yaw) in mrad/sec

state - motor state (zero is either off or locked, depending on the driver)

type - command type; 0 = velocity, 1 = position

setPosition

public void setPosition(int xP,
                        int yP,
                        int zP)

Send position commands.

Parameters:

xP - X position in mm

yP - Y position in mm

zP - Z position in mm

setPosition

public void setPosition(int xP,
                        int yP,
                        int zP,
                        int pitchP,
                        int rollP,
                        int yawP)

Send position commands.

Parameters:

xP - X position in mm

yP - Y position in mm

zP - Z position in mm

pitchP - angular velocity (pitch) in mrad

rollP - angular velocity (roll) in mrad

yawP - angular velocity (yaw) in mrad

setSpeed

public void setSpeed(int xS,
                     int yS)

Set speed and turnrate.

Specified by:

setSpeed in class AbstractPositionDevice

Parameters:

xS - X translational velocity in mm/sec

yS - Y translational velocity in mm/sec

setSpeed

public void setSpeed(int xS,
                     int yS,
                     int zS)

Set speed and turnrate.

Parameters:

xS - X translational velocity in mm/sec

yS - Y translational velocity in mm/sec

zS - Z translational velocity in mm/sec

setSpeed

public void setSpeed(int xS,
                     int yS,
                     int zS,
                     int pitchS,
                     int rollS,
                     int yawS)

Set speed, turnrate and sideSpeed.

Parameters:

xS - X translational velocity in mm/sec

yS - Y translational velocity in mm/sec

zS - Z translational velocity in mm/sec

pitchS - angular velocity (pitch) in mrad/sec

rollS - angular velocity (roll) in mrad/sec

yawS - angular velocity (yaw) in mrad/sec

queryGeometry

public void queryGeometry()

Configuration request: Query geometry.

isGeomReady

public boolean isGeomReady()

Check if geometry data is available.

Returns:

true if ready, false if not ready

getGeom

public PlayerPosition3DGeomT getGeom()

Get the geometry data.

Returns:

an object of type PlayerPosition3DGeomT containing the required geometry data

handleResponse

public void handleResponse(int size)

Handle acknowledgement response messages (threaded mode).

Overrides:

handleResponse in class PlayerDevice

Parameters:

size - size of the payload

setMotorPower

public void setMotorPower(int state)

Configuration request: Motor power.

On some robots, the motor power can be turned on and off from software.

Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.

Parameters:

state - 0 for off, 1 for on

changePositionControl

public void changePositionControl(byte state)

Configuration request: Change position control.

Parameters:

state - 0 for velocity mode, 1 for position mode

setVelocityControl

public void setVelocityControl(byte value)

Configuration request: Change velocity control.

Some robots offer different velocity control modes. It can be changed by sending a request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position3d device remains the same.

Parameters:

value - driver-specific

setOdometry

public void setOdometry(int xP,
                        int yP,
                        int zP,
                        int rollP,
                        int pitchP,
                        int yawP)

Configuration request: Set odometry.

Parameters:

xP - X in mm

yP - Y in mm

zP - Z in mm

rollP - Heading in mrad

pitchP - Heading in mrad

yawP - Heading in mrad

resetOdometry

public void resetOdometry()

Configuration request: Reset odometry.

Resets the robot's odometry to (x,y,theta) = (0,0,0).

setVelocityPIDParams

public void setVelocityPIDParams(int kp,
                                 int ki,
                                 int kd)

Configuration request: Set velocity PID parameters.

Parameters:

kp - P parameter

ki - I parameter

kd - D parameter

setPositionPIDParams

public void setPositionPIDParams(int kp,
                                 int ki,
                                 int kd)

Configuration request: Set position PID parameters.

Parameters:

kp - P parameter

ki - I parameter

kd - D parameter

setSpeedProfileParams

public void setSpeedProfileParams(int sp,
                                  int acc)

Configuration request: Set speed profile parameters.

Parameters:

sp - max speed (in mrad/s)

acc - max acceleration (in mrad/s/s)

handleNARMessage

public void handleNARMessage()

Handle Negative Acknowledgement Response messages.

Overrides:

handleNARMessage in class PlayerDevice

handleEARMessage

public void handleEARMessage()

Handle Error Acknowledgement Response messages.

Overrides:

handleEARMessage in class PlayerDevice