A robot simulator. More...
#define | PLAYER_SIMULATION_REQ_GET_POSE2D 1 |
Request/reply subtype: set 2D pose. | |
#define | PLAYER_SIMULATION_REQ_SET_POSE2D 2 |
Request/reply subtype: get 2D pose. | |
#define | PLAYER_SIMULATION_REQ_GET_POSE3D 3 |
Request/reply subtype: set 2D pose. | |
#define | PLAYER_SIMULATION_REQ_SET_POSE3D 4 |
Request/reply subtype: get 2D pose. | |
#define | PLAYER_SIMULATION_REQ_GET_PROPERTY 5 |
Request/reply subtype: set property value. | |
#define | PLAYER_SIMULATION_REQ_SET_PROPERTY 6 |
Request/reply subtype: get property value. | |
#define | PLAYER_SIMULATION_CMD_PAUSE 1 |
Cmd subtype: pause (if running) /resume (if paused) command. | |
#define | PLAYER_SIMULATION_CMD_RESET 2 |
Cmd subtype: reset simulation command. | |
#define | PLAYER_SIMULATION_CMD_SAVE 3 |
Cmd subtype: save simulation command. | |
typedef struct player_simulation_data | player_simulation_data_t |
Data. | |
typedef struct player_simulation_cmd | player_simulation_cmd_t |
Command. | |
typedef struct player_simulation_pose2d_req | player_simulation_pose2d_req_t |
Request/reply: get/set 2D pose of a named simulation object. | |
typedef struct player_simulation_pose3d_req | player_simulation_pose3d_req_t |
Request/reply: get/set 3D pose of a named simulation object. | |
typedef struct player_simulation_property_req | player_simulation_property_req_t |
Request/reply: get/set a property of a named simulation object. |
A robot simulator.
Player devices may either be real hardware or virtual devices generated by a simulator such as Stage or Gazebo. This interface provides direct access to a simulator.
This interface doesn't do much yet. It is in place to later support things like pausing and restarting the simulation clock, saving and loading, etc.
Note: the Stage and Gazebo developers should confer on the best design for this interface. Suggestions welcome on playerstage-developers.
typedef struct player_simulation_cmd player_simulation_cmd_t |
Command.
Just a placeholder for now; data will be added in future.
typedef struct player_simulation_data player_simulation_data_t |
Data.
Just a placeholder for now; data will be added in future.
typedef struct player_simulation_pose2d_req player_simulation_pose2d_req_t |
Request/reply: get/set 2D pose of a named simulation object.
To retrieve the pose of an object in a simulator, send a null PLAYER_SIMULATION_REQ_GET_POSE2D request. To set the pose of an object in a simulator, send a PLAYER_SIMULATION_REQ_SET_POSE2D request (response will be null).
typedef struct player_simulation_pose3d_req player_simulation_pose3d_req_t |
Request/reply: get/set 3D pose of a named simulation object.
To retrieve the pose of an object in a 3D simulator, send a null PLAYER_SIMULATION_REQ_GET_POSE3D request. To set the pose of an object in a 3D simulator, send a PLAYER_SIMULATION_REQ_SET_POSE3D request (response will be null).
typedef struct player_simulation_property_req player_simulation_property_req_t |
Request/reply: get/set a property of a named simulation object.