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javaclient2
Class Position3DInterface

java.lang.Object
  extended by javaclient2.PlayerDevice
      extended by javaclient2.AbstractPositionDevice
          extended by javaclient2.Position3DInterface
All Implemented Interfaces:
PlayerConstants
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:
Author:
Radu Bogdan Rusu

Field Summary
 
Fields inherited from class javaclient2.PlayerDevice
is, os, pc
 
Fields inherited from interface javaclient2.structures.PlayerConstants
MCOM_CHANNEL_LEN, MCOM_DATA_BUFFER_SIZE, MCOM_DATA_LEN, MCOM_N_BUFS, PLAYER_ACTARRAY_ACTSTATE_BRAKED, PLAYER_ACTARRAY_ACTSTATE_IDLE, PLAYER_ACTARRAY_ACTSTATE_MOVING, PLAYER_ACTARRAY_ACTSTATE_STALLED, PLAYER_ACTARRAY_BRAKES_REQ, PLAYER_ACTARRAY_CODE, PLAYER_ACTARRAY_DATA_STATE, PLAYER_ACTARRAY_GET_GEOM_REQ, PLAYER_ACTARRAY_HOME_CMD, PLAYER_ACTARRAY_NUM_ACTUATORS, PLAYER_ACTARRAY_POS_CMD, PLAYER_ACTARRAY_POWER_REQ, PLAYER_ACTARRAY_SPEED_CMD, PLAYER_ACTARRAY_SPEED_REQ, PLAYER_ACTARRAY_STRING, PLAYER_ACTARRAY_TYPE_LINEAR, PLAYER_ACTARRAY_TYPE_ROTARY, PLAYER_AIO_CMD_STATE, PLAYER_AIO_CODE, PLAYER_AIO_DATA_STATE, PLAYER_AIO_MAX_INPUTS, PLAYER_AIO_MAX_OUTPUTS, PLAYER_AIO_STRING, PLAYER_AUDIO_CODE, PLAYER_AUDIO_COMMAND_BUFFER_SIZE, PLAYER_AUDIO_DATA_BUFFER_SIZE, PLAYER_AUDIO_PAIRS, PLAYER_AUDIO_STRING, PLAYER_AUDIODSP_CODE, PLAYER_AUDIODSP_DATA_TONES, PLAYER_AUDIODSP_GET_CONFIG, PLAYER_AUDIODSP_MAX_BITSTRING_LEN, PLAYER_AUDIODSP_MAX_FREQS, PLAYER_AUDIODSP_PLAY_CHIRP, PLAYER_AUDIODSP_PLAY_TONE, PLAYER_AUDIODSP_REPLAY, PLAYER_AUDIODSP_SET_CONFIG, PLAYER_AUDIODSP_STRING, PLAYER_AUDIOMIXER_CODE, PLAYER_AUDIOMIXER_GET_LEVELS, PLAYER_AUDIOMIXER_SET_IGAIN, PLAYER_AUDIOMIXER_SET_LINE, PLAYER_AUDIOMIXER_SET_MASTER, PLAYER_AUDIOMIXER_SET_MIC, PLAYER_AUDIOMIXER_SET_OGAIN, PLAYER_AUDIOMIXER_SET_PCM, PLAYER_AUDIOMIXER_STRING, PLAYER_BLINKENLIGHT_CMD_COLOR, PLAYER_BLINKENLIGHT_CMD_DUTYCYCLE, PLAYER_BLINKENLIGHT_CMD_PERIOD, PLAYER_BLINKENLIGHT_CMD_POWER, PLAYER_BLINKENLIGHT_CMD_STATE, PLAYER_BLINKENLIGHT_CODE, PLAYER_BLINKENLIGHT_DATA_STATE, PLAYER_BLINKENLIGHT_STRING, PLAYER_BLOBFINDER_CODE, PLAYER_BLOBFINDER_DATA_BLOBS, PLAYER_BLOBFINDER_MAX_BLOBS, PLAYER_BLOBFINDER_REQ_SET_COLOR, PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS, PLAYER_BLOBFINDER_STRING, PLAYER_BUMPER_CODE, PLAYER_BUMPER_DATA_GEOM, PLAYER_BUMPER_DATA_STATE, PLAYER_BUMPER_GET_GEOM, PLAYER_BUMPER_MAX_SAMPLES, PLAYER_BUMPER_STRING, PLAYER_CAMERA_CODE, PLAYER_CAMERA_COMPRESS_JPEG, PLAYER_CAMERA_COMPRESS_RAW, PLAYER_CAMERA_DATA_STATE, PLAYER_CAMERA_FORMAT_MONO16, PLAYER_CAMERA_FORMAT_MONO8, PLAYER_CAMERA_FORMAT_RGB565, PLAYER_CAMERA_FORMAT_RGB888, PLAYER_CAMERA_IMAGE_HEIGHT, PLAYER_CAMERA_IMAGE_SIZE, PLAYER_CAMERA_IMAGE_WIDTH, PLAYER_CAMERA_STRING, PLAYER_CLOSE_MODE, PLAYER_DATAMODE_PULL, PLAYER_DATAMODE_PUSH, PLAYER_DIO_CMD_VALUES, PLAYER_DIO_CODE, PLAYER_DIO_DATA_VALUES, PLAYER_DIO_STRING, PLAYER_ENERGY_CODE, PLAYER_ENERGY_DATA_STATE, PLAYER_ENERGY_SET_CHARGING_POLICY_REQ, PLAYER_ENERGY_STRING, PLAYER_ERROR_MODE, PLAYER_FIDUCIAL_CODE, PLAYER_FIDUCIAL_DATA_SCAN, PLAYER_FIDUCIAL_MAX_SAMPLES, PLAYER_FIDUCIAL_REQ_GET_FOV, PLAYER_FIDUCIAL_REQ_GET_GEOM, PLAYER_FIDUCIAL_REQ_GET_ID, PLAYER_FIDUCIAL_REQ_SET_FOV, PLAYER_FIDUCIAL_REQ_SET_ID, PLAYER_FIDUCIAL_STRING, PLAYER_GPS_CODE, PLAYER_GPS_DATA_STATE, PLAYER_GPS_STRING, PLAYER_GRAPHICS2D_CMD_CLEAR, PLAYER_GRAPHICS2D_CMD_DRAW, PLAYER_GRAPHICS2D_CMD_POINTS, PLAYER_GRAPHICS2D_CMD_POLYGON, PLAYER_GRAPHICS2D_CMD_POLYLINE, PLAYER_GRAPHICS2D_CODE, PLAYER_GRAPHICS2D_MAX_POINTS, PLAYER_GRAPHICS2D_STRING, PLAYER_GRAPHICS3D_CMD_CLEAR, PLAYER_GRAPHICS3D_CODE, PLAYER_GRAPHICS3D_MAX_POINTS, PLAYER_GRAPHICS3D_STRING, PLAYER_GRIPPER_CMD_STATE, PLAYER_GRIPPER_CODE, PLAYER_GRIPPER_DATA_STATE, PLAYER_GRIPPER_REQ_GET_GEOM, PLAYER_GRIPPER_STRING, PLAYER_HEALTH_CODE, PLAYER_HEALTH_DATA, PLAYER_HEALTH_STRING, PLAYER_IDENT_STRLEN, PLAYER_IMU_CODE, PLAYER_IMU_DATA_CALIB, PLAYER_IMU_DATA_EULER, PLAYER_IMU_DATA_QUAT, PLAYER_IMU_DATA_STATE, PLAYER_IMU_REQ_SET_DATATYPE, PLAYER_IMU_STRING, PLAYER_IR_CODE, PLAYER_IR_DATA_RANGES, PLAYER_IR_MAX_SAMPLES, PLAYER_IR_POSE, PLAYER_IR_POWER, PLAYER_IR_STRING, PLAYER_JOYSTICK_CODE, PLAYER_JOYSTICK_DATA_STATE, PLAYER_JOYSTICK_STRING, PLAYER_KEYLEN, PLAYER_LASER_CODE, PLAYER_LASER_DATA_SCAN, PLAYER_LASER_DATA_SCANPOSE, PLAYER_LASER_MAX_SAMPLES, PLAYER_LASER_REQ_GET_CONFIG, PLAYER_LASER_REQ_GET_GEOM, PLAYER_LASER_REQ_POWER, PLAYER_LASER_REQ_SET_CONFIG, PLAYER_LASER_STRING, PLAYER_LIMB_BRAKES_REQ, PLAYER_LIMB_CODE, PLAYER_LIMB_DATA, PLAYER_LIMB_GEOM_REQ, PLAYER_LIMB_HOME_CMD, PLAYER_LIMB_POWER_REQ, PLAYER_LIMB_SETPOSE_CMD, PLAYER_LIMB_SETPOSITION_CMD, PLAYER_LIMB_SPEED_REQ, PLAYER_LIMB_STATE_BRAKED, PLAYER_LIMB_STATE_COLL, PLAYER_LIMB_STATE_IDLE, PLAYER_LIMB_STATE_MOVING, PLAYER_LIMB_STATE_OOR, PLAYER_LIMB_STOP_CMD, PLAYER_LIMB_STRING, PLAYER_LIMB_VECMOVE_CMD, PLAYER_LOCALIZE_CODE, PLAYER_LOCALIZE_DATA_HYPOTHS, PLAYER_LOCALIZE_MAX_HYPOTHS, PLAYER_LOCALIZE_PARTICLES_MAX, PLAYER_LOCALIZE_REQ_GET_PARTICLES, PLAYER_LOCALIZE_REQ_SET_POSE, PLAYER_LOCALIZE_STRING, PLAYER_LOG_CODE, PLAYER_LOG_REQ_GET_STATE, PLAYER_LOG_REQ_SET_FILENAME, PLAYER_LOG_REQ_SET_READ_REWIND, PLAYER_LOG_REQ_SET_READ_STATE, PLAYER_LOG_REQ_SET_WRITE_STATE, PLAYER_LOG_STRING, PLAYER_LOG_TYPE_READ, PLAYER_LOG_TYPE_WRITE, PLAYER_MAP_CODE, PLAYER_MAP_DATA_INFO, PLAYER_MAP_MAX_SEGMENTS, PLAYER_MAP_MAX_TILE_SIZE, PLAYER_MAP_REQ_GET_DATA, PLAYER_MAP_REQ_GET_INFO, PLAYER_MAP_REQ_GET_VECTOR, PLAYER_MAP_STRING, PLAYER_MAX_DEVICES, PLAYER_MAX_DRIVER_STRING_LEN, PLAYER_MAX_MESSAGE_SIZE, PLAYER_MAX_REQREP_SIZE, PLAYER_MCOM_CLEAR, PLAYER_MCOM_CODE, PLAYER_MCOM_POP, PLAYER_MCOM_PUSH, PLAYER_MCOM_READ, PLAYER_MCOM_SET_CAPACITY, PLAYER_MCOM_STRING, PLAYER_MSGQUEUE_DEFAULT_MAXLEN, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_DATA, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_MSGTYPE_RESP_NACK, PLAYER_MSGTYPE_SYNCH, PLAYER_NOMAD_CODE, PLAYER_NOMAD_STRING, PLAYER_NULL_CODE, PLAYER_NULL_STRING, PLAYER_OPAQUE_CODE, PLAYER_OPAQUE_STRING, PLAYER_OPEN_MODE, PLAYER_PLANNER_CMD_GOAL, PLAYER_PLANNER_CODE, PLAYER_PLANNER_DATA_STATE, PLAYER_PLANNER_MAX_WAYPOINTS, PLAYER_PLANNER_REQ_ENABLE, PLAYER_PLANNER_REQ_GET_WAYPOINTS, PLAYER_PLANNER_STRING, PLAYER_PLAYER_CODE, PLAYER_PLAYER_REQ_ADD_REPLACE_RULE, PLAYER_PLAYER_REQ_AUTH, PLAYER_PLAYER_REQ_DATA, PLAYER_PLAYER_REQ_DATAFREQ, PLAYER_PLAYER_REQ_DATAMODE, PLAYER_PLAYER_REQ_DEV, PLAYER_PLAYER_REQ_DEVLIST, PLAYER_PLAYER_REQ_DRIVERINFO, PLAYER_PLAYER_REQ_IDENT, PLAYER_PLAYER_REQ_NAMESERVICE, PLAYER_PLAYER_STRING, PLAYER_POINTCLOUD3D_CODE, PLAYER_POINTCLOUD3D_DATA_STATE, PLAYER_POINTCLOUD3D_MAX_POINTS, PLAYER_POINTCLOUD3D_STRING, PLAYER_POSITION1D_CMD_POS, PLAYER_POSITION1D_CMD_VEL, PLAYER_POSITION1D_CODE, PLAYER_POSITION1D_DATA_GEOM, PLAYER_POSITION1D_DATA_STATE, PLAYER_POSITION1D_REQ_GET_GEOM, PLAYER_POSITION1D_REQ_MOTOR_POWER, PLAYER_POSITION1D_REQ_POSITION_MODE, PLAYER_POSITION1D_REQ_POSITION_PID, PLAYER_POSITION1D_REQ_RESET_ODOM, PLAYER_POSITION1D_REQ_SET_ODOM, PLAYER_POSITION1D_REQ_SPEED_PID, PLAYER_POSITION1D_REQ_SPEED_PROF, PLAYER_POSITION1D_REQ_VELOCITY_MODE, PLAYER_POSITION1D_STATUS_ENABLED, PLAYER_POSITION1D_STATUS_LIMIT_CEN, PLAYER_POSITION1D_STATUS_LIMIT_MAX, PLAYER_POSITION1D_STATUS_LIMIT_MIN, PLAYER_POSITION1D_STATUS_OC, PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE, PLAYER_POSITION1D_STRING, PLAYER_POSITION2D_CMD_CAR, PLAYER_POSITION2D_CMD_POS, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_CODE, PLAYER_POSITION2D_DATA_GEOM, PLAYER_POSITION2D_DATA_STATE, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION2D_REQ_MOTOR_POWER, PLAYER_POSITION2D_REQ_POSITION_MODE, PLAYER_POSITION2D_REQ_POSITION_PID, PLAYER_POSITION2D_REQ_RESET_ODOM, PLAYER_POSITION2D_REQ_SET_ODOM, PLAYER_POSITION2D_REQ_SPEED_PID, PLAYER_POSITION2D_REQ_SPEED_PROF, PLAYER_POSITION2D_REQ_VELOCITY_MODE, PLAYER_POSITION2D_STRING, PLAYER_POSITION3D_CMD_SET_POS, PLAYER_POSITION3D_CMD_SET_VEL, PLAYER_POSITION3D_CODE, PLAYER_POSITION3D_DATA_GEOMETRY, PLAYER_POSITION3D_DATA_STATE, PLAYER_POSITION3D_GET_GEOM, PLAYER_POSITION3D_MOTOR_POWER, PLAYER_POSITION3D_POSITION_MODE, PLAYER_POSITION3D_POSITION_PID, PLAYER_POSITION3D_RESET_ODOM, PLAYER_POSITION3D_SET_ODOM, PLAYER_POSITION3D_SPEED_PID, PLAYER_POSITION3D_SPEED_PROF, PLAYER_POSITION3D_STRING, PLAYER_POSITION3D_VELOCITY_MODE, PLAYER_POWER_CODE, PLAYER_POWER_DATA_STATE, PLAYER_POWER_MASK_CHARGING, PLAYER_POWER_MASK_JOULES, PLAYER_POWER_MASK_PERCENT, PLAYER_POWER_MASK_VOLTS, PLAYER_POWER_MASK_WATTS, PLAYER_POWER_SET_CHARGING_POLICY_REQ, PLAYER_POWER_STRING, PLAYER_PTZ_CMD_STATE, PLAYER_PTZ_CODE, PLAYER_PTZ_DATA_GEOM, PLAYER_PTZ_DATA_STATE, PLAYER_PTZ_MAX_CONFIG_LEN, PLAYER_PTZ_POSITION_CONTROL, PLAYER_PTZ_REQ_AUTOSERVO, PLAYER_PTZ_REQ_CONTROL_MODE, PLAYER_PTZ_REQ_GENERIC, PLAYER_PTZ_REQ_GEOM, PLAYER_PTZ_STRING, PLAYER_PTZ_VELOCITY_CONTROL, PLAYER_RFID_CODE, PLAYER_RFID_DATA, PLAYER_RFID_MAX_GUID, PLAYER_RFID_MAX_TAGS, PLAYER_RFID_REQ_LOCKTAG, PLAYER_RFID_REQ_POWER, PLAYER_RFID_REQ_READTAG, PLAYER_RFID_REQ_WRITETAG, PLAYER_RFID_STRING, PLAYER_SERVICE_ADV_CODE, PLAYER_SERVICE_ADV_STRING, PLAYER_SIMULATION_CODE, PLAYER_SIMULATION_IDENTIFIER_MAXLEN, PLAYER_SIMULATION_REQ_GET_POSE2D, PLAYER_SIMULATION_REQ_SET_POSE2D, PLAYER_SIMULATION_STRING, PLAYER_SONAR_CODE, PLAYER_SONAR_DATA_GEOM, PLAYER_SONAR_DATA_RANGES, PLAYER_SONAR_MAX_SAMPLES, PLAYER_SONAR_REQ_GET_GEOM, PLAYER_SONAR_REQ_POWER, PLAYER_SONAR_STRING, PLAYER_SOUND_CMD_IDX, PLAYER_SOUND_CODE, PLAYER_SOUND_STRING, PLAYER_SPEECH_CMD_SAY, PLAYER_SPEECH_CODE, PLAYER_SPEECH_MAX_STRING_LEN, PLAYER_SPEECH_RECOGNITION_CODE, PLAYER_SPEECH_RECOGNITION_STRING, PLAYER_SPEECH_STRING, PLAYER_TRUTH_CODE, PLAYER_TRUTH_DATA_FIDUCIAL_ID, PLAYER_TRUTH_DATA_POSE, PLAYER_TRUTH_REQ_GET_FIDUCIAL_ID, PLAYER_TRUTH_REQ_SET_FIDUCIAL_ID, PLAYER_TRUTH_REQ_SET_POSE, PLAYER_TRUTH_STRING, PLAYER_WAVEFORM_CODE, PLAYER_WAVEFORM_DATA_MAX, PLAYER_WAVEFORM_DATA_SAMPLE, PLAYER_WAVEFORM_STRING, PLAYER_WIFI_CODE, PLAYER_WIFI_DATA_STATE, PLAYER_WIFI_IWSPY_ADD, PLAYER_WIFI_IWSPY_DEL, PLAYER_WIFI_IWSPY_PING, PLAYER_WIFI_MAC, PLAYER_WIFI_MAX_LINKS, PLAYER_WIFI_MODE_ADHOC, PLAYER_WIFI_MODE_AUTO, PLAYER_WIFI_MODE_INFRA, PLAYER_WIFI_MODE_MASTER, PLAYER_WIFI_MODE_REPEAT, PLAYER_WIFI_MODE_SECOND, PLAYER_WIFI_MODE_UNKNOWN, PLAYER_WIFI_QUAL_DBM, PLAYER_WIFI_QUAL_REL, PLAYER_WIFI_QUAL_UNKNOWN, PLAYER_WIFI_STRING, PLAYER_WSN_CMD_DEVSTATE, PLAYER_WSN_CODE, PLAYER_WSN_DATA, PLAYER_WSN_MAX_NODES, PLAYER_WSN_REQ_DATAFREQ, PLAYER_WSN_REQ_DATATYPE, PLAYER_WSN_REQ_POWER, PLAYER_WSN_STRING, SPEECH_RECOGNITION_DATA_STRING, SPEECH_RECOGNITION_TEXT_LEN
 
Constructor Summary
Position3DInterface(PlayerClient pc)
          Constructor for Position3DInterface.
 
Method Summary
 PlayerPosition3dData getData()
          Get the Position3D data.
 PlayerPosition3dGeom getGeom()
          Get the geometry data.
 float getX()
           
 float getY()
           
 float getYaw()
           
protected  void handleResponse(PlayerMsgHdr header)
          Handle acknowledgement response messages.
 boolean isDataReady()
          Check if data is available.
 boolean isGeomReady()
          Check if geometry data is available.
 void queryGeometry()
          Request/reply: Query geometry.
 void readData(PlayerMsgHdr header)
          This interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information.
 void resetOdometry()
          Configuration request: Reset odometry.
 void setControlMode(int state)
          Configuration request: Change position control.
 void setMotorPower(int state)
          Request/reply: Motor power.
 void setOdometry(PlayerPose3d pose)
          Configuration request: Set odometry.
 void setPosition(PlayerPose3d pos, PlayerPose3d vel, int state)
          Command: position (PLAYER_POSITION3D_CMD_SET_POS)

It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).
 void setPosition(PlayerPosition3dCmdPos pp3dcp)
          Command: position (PLAYER_POSITION3D_CMD_SET_POS)

It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).
 void setPositionPIDParams(float kp, float ki, float kd)
          Configuration request: Set position PID parameters.
 void setSpeed(float speed, float turnrate)
           
 void setSpeedProfileParams(float speed, float acc)
          Configuration request: Set speed profile parameters.
 void setVelocity(PlayerPose3d vel, int state)
          Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)

It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).
 void setVelocity(PlayerPosition3dCmdVel pp3dcv)
          Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)

It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).
 void setVelocityControl(int value)
          Configuration request: Change velocity control.
 void setVelocityPIDParams(float kp, float ki, float kd)
          Configuration request: Set velocity PID parameters.
 
Methods inherited from class javaclient2.PlayerDevice
getDeviceAccess, getDeviceAddress, getDeviceDriverName, handleNARMessage, sendHeader, setDeviceAccess, setDeviceAddress, setDeviceDriverName
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

Position3DInterface

public Position3DInterface(PlayerClient pc)
Constructor for Position3DInterface.

Parameters:
pc - a reference to the PlayerClient object
Method Detail

readData

public void readData(PlayerMsgHdr header)
This interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information.

Overrides:
readData in class PlayerDevice

setPosition

public void setPosition(PlayerPose3d pos,
                        PlayerPose3d vel,
                        int state)
Command: position (PLAYER_POSITION3D_CMD_SET_POS)

It 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_pos structure from player.h

Parameters:
pos - a PlayerPose3d structure containing the required position data
vel - a PlayerPose3d structure containing the required velocity data
state - motor state (zero is either off or locked, depending on the driver)

setPosition

public void setPosition(PlayerPosition3dCmdPos pp3dcp)
Command: position (PLAYER_POSITION3D_CMD_SET_POS)

It 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_pos structure from player.h

Parameters:
pp3dcp - a PlayerPosition3dCmdPos structure holding the required data

setVelocity

public void setVelocity(PlayerPose3d vel,
                        int state)
Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)

It 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_vel structure from player.h

Parameters:
vel - a PlayerPose3d structure containing the required velocity data
state - motor state (zero is either off or locked, depending on the driver)

setVelocity

public void setVelocity(PlayerPosition3dCmdVel pp3dcv)
Command: velocity (PLAYER_POSITION3D_CMD_SET_VEL)

It 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_vel structure from player.h

Parameters:
pp3dcv - a PlayerPosition3dCmdVel structure holding the required data

queryGeometry

public void queryGeometry()
Request/reply: Query geometry.

To request robot geometry, send a null PLAYER_POSITION3D_GET_GEOM request.

setMotorPower

public void setMotorPower(int state)
Request/reply: Motor power.

On some robots, the motor power can be turned on and off from software. TO do so, send a PLAYER_POSITION3D_MOTOR_POWER request with the format given below, and with the appropriate state (zero for motors off, and non-zero for motors on). Null response.

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

setControlMode

public void setControlMode(int state)
Configuration request: Change position control.

To change control mode, send a PLAYER_POSITION3D_POSITION_MODE request. Null response.

Parameters:
state - 0 for velocity mode, 1 for position mode

setVelocityControl

public void setVelocityControl(int 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. Null response.

Parameters:
value - driver-specific

setOdometry

public void setOdometry(PlayerPose3d pose)
Configuration request: Set odometry.

To set the robot's odometry to a particular state, send a PLAYER_POSITION3D_SET_ODOM request. Null response.

Parameters:
pose - a PlayerPose3d structure containing the pose data

resetOdometry

public void resetOdometry()
Configuration request: Reset odometry.

To reset the robot's odometry to (x,y,theta) = (0,0,0), send a PLAYER_POSITION3D_RESET_ODOM request. Null response.

setVelocityPIDParams

public void setVelocityPIDParams(float kp,
                                 float ki,
                                 float kd)
Configuration request: Set velocity PID parameters.

Parameters:
kp - P parameter
ki - I parameter
kd - D parameter

setPositionPIDParams

public void setPositionPIDParams(float kp,
                                 float ki,
                                 float kd)
Configuration request: Set position PID parameters.

Parameters:
kp - P parameter
ki - I parameter
kd - D parameter

setSpeedProfileParams

public void setSpeedProfileParams(float speed,
                                  float acc)
Configuration request: Set speed profile parameters.

Parameters:
speed - max speed [rad/s]
acc - max acceleration [rad/s^2]

handleResponse

protected void handleResponse(PlayerMsgHdr header)
Handle acknowledgement response messages.

Overrides:
handleResponse in class PlayerDevice
Parameters:
header - Player header

getData

public PlayerPosition3dData getData()
Get the Position3D data.

Returns:
an object of type PlayerPosition3DData containing the requested data

getGeom

public PlayerPosition3dGeom getGeom()
Get the geometry data.

Returns:
an object of type PlayerPosition3DGeom containing the requested data

isDataReady

public boolean isDataReady()
Check if data is available.

Returns:
true if ready, false if not ready

isGeomReady

public boolean isGeomReady()
Check if geometry data is available.

Returns:
true if ready, false if not ready

getX

public float getX()
Specified by:
getX in class AbstractPositionDevice

getY

public float getY()
Specified by:
getY in class AbstractPositionDevice

getYaw

public float getYaw()
Specified by:
getYaw in class AbstractPositionDevice

setSpeed

public void setSpeed(float speed,
                     float turnrate)
Specified by:
setSpeed in class AbstractPositionDevice
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