Update of /cvsroot/playerstage/code/player/libplayercore
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24759/libplayercore
Modified Files:
player.h
Log Message:
new interface: pointcloud3d
Index: player.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/player.h,v
retrieving revision 1.112
retrieving revision 1.113
diff -C2 -d -r1.112 -r1.113
*** player.h 8 Aug 2006 18:42:38 -0000 1.112
--- player.h 8 Aug 2006 21:17:49 -0000 1.113
***************
*** 160,163 ****
--- 160,164 ----
#define PLAYER_HEALTH_CODE 59 // Statgrab Health interface
#define PLAYER_IMU_CODE 60 // Inertial Measurement Unit interface
+ #define PLAYER_POINTCLOUD3D_CODE 61 // 3-D point cloud
/** @} */
***************
*** 189,192 ****
--- 190,194 ----
#define PLAYER_GRAPHICS3D_STRING "graphics3d"
#define PLAYER_IMU_STRING "imu"
+ #define PLAYER_POINTCLOUD3D_STRING "pointcloud3d"
#define PLAYER_HEALTH_STRING "health"
#define PLAYER_IR_STRING "ir"
***************
*** 3338,3341 ****
--- 3340,3390 ----
//
/////////////////////////////////////////////////////////////////////////////
/** @ingroup interfaces
+ * @defgroup interface_pointcloud3d pointcloud3d
+ * @brief A 3-D point cloud
+
+ The @p pointcloud3d interface is used to transmit 3-D point cloud data
+ (e.g., from a 3-D range sensor).
+ */
+
+ /** @ingroup interface_pointcloud3d
+ * @{ */
+
+ /** Maximum number of points that can be included in a data packet */
+ #define PLAYER_POINTCLOUD3D_MAX_POINTS 8192
+
+ /** Data subtype: state */
+ #define PLAYER_POINTCLOUD3D_DATA_STATE 1
+
+ /** @brief 3D Pointcloud element structure
+ * An element as stored in a 3D pointcloud, containing a 3D position
+ * plus other corresponding information. */
+ typedef struct player_pointcloud3d_element
+ {
+ player_point_3d_t point;
+ player_color_t color;
+ /** Add other data here as necessary */
+ /** Storage area for generic user data (temperature,
+ * intensity, polygon association, flags, etc.)
+ * Probably best left until when variable sized
+ * structures are fully implemented so we
+ * don't unnecessarily allocate huge
+ * amounts of data per point */
+ //uint32_t data_count;
+ //uchar data[PLAYER_3DPOINTCLOUD_MAX_DATA]
+ } player_pointcloud3d_element_t;
+
+ /** @brief Data: Get cloud (@ref
+ PLAYER_POINTCLOUD3D_DATA_STATE)
+ The basic 3dcloudpoint data packet. */
+ typedef struct player_pointcloud3d_data
+ {
+ uint32_t points_count;
+ player_pointcloud3d_element_t points[PLAYER_POINTCLOUD3D_MAX_POINTS];
+ } player_pointcloud3d_data_t;
+
+ /** @} */
+
+ //
/////////////////////////////////////////////////////////////////////////////
+ /** @ingroup interfaces
* @defgroup interface_position1d position1d
* @brief A 1-D linear actuator
-------------------------------------------------------------------------
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