Update of /cvsroot/playerstage/code/player/libplayercore
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1675/libplayercore
Modified Files:
player.h
Log Message:
added some extra structures/requests for geometry info from the act
array for individual links
Index: player.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/player.h,v
retrieving revision 1.102
retrieving revision 1.103
diff -C2 -d -r1.102 -r1.103
*** player.h 18 Jun 2006 19:33:23 -0000 1.102
--- player.h 22 Jun 2006 22:14:36 -0000 1.103
***************
*** 287,290 ****
--- 287,302 ----
+ /** @brief An angle in 3D space */
+ typedef struct player_orientation_3d
+ {
+ /** roll [rad] */
+ float proll;
+ /** pitch [rad] */
+ float ppitch;
+ /** yaw [rad] */
+ float pyaw;
+ } player_orientation_3d_t;
+
+
/** @brief A pose in the plane */
typedef struct player_pose
***************
*** 547,550 ****
--- 559,572 ----
/** The type of the actuator - linear or rotary. */
uint8_t type;
+ /** The offset of this actuator from the previous actuator in the array. */
+ float offset;
+ /** The orientation of this actuator when it is in its rest position. When
+ combined with the offset of the next actuator, this will give the position
in
+ space of the next actuator in the array in the coordinate space of this
+ actuator. */
+ player_orientation_3d_t orientation;
+ /** The axis of rotation for this actuator if it is rotary, or axis along
+ which it moves if it is linear. In both cases, it is a vector. */
+ player_point_3d_t axis;
/** The range of motion of the actuator, in m or rad depending on the type.
*/
float min;
***************
*** 571,574 ****
--- 593,600 ----
/** The geometry information for each actuator in the array. */
player_actarray_actuatorgeom_t actuators[PLAYER_ACTARRAY_NUM_ACTUATORS];
+ /** The position of the base of the actarray. */
+ player_point_3d_t base_pos;
+ /** The orientation of the base of the actarray. */
+ player_orientation_3d_t base_orientation;
} player_actarray_geom_t;
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