javaclient2.structures.position1d
Class PlayerPosition1dCmdPos

java.lang.Object
  extended by javaclient2.structures.position1d.PlayerPosition1dCmdPos
All Implemented Interfaces:
PlayerConstants

public class PlayerPosition1dCmdPos
extends java.lang.Object
implements PlayerConstants

Command: state (PLAYER_POSITION1D_CMD_POS) The position1d interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both).

Version:
Author:
Radu Bogdan Rusu

Field Summary
 
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
PlayerPosition1dCmdPos()
           
 
Method Summary
 float getPos()
           
 byte getState()
           
 float getVel()
           
 void setPos(float newPos)
           
 void setState(byte newState)
           
 void setVel(float newVel)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

PlayerPosition1dCmdPos

public PlayerPosition1dCmdPos()
Method Detail

getPos

public float getPos()
Returns:
position [m] or [rad]

setPos

public void setPos(float newPos)
Parameters:
newPos - position [m] or [rad]

getVel

public float getVel()
Returns:
velocity at which to move to the position [m/s] or [rad/s]

setVel

public void setVel(float newVel)
Parameters:
newVel - velocity at which to move to the position [m/s] or [rad/s]

getState

public byte getState()
Returns:
Motor state (FALSE is either off or locked, depending on the driver).

setState

public void setState(byte newState)
Parameters:
newState - Motor state (FALSE is either off or locked, depending on the driver).