Update of /cvsroot/playerstage/code/player/libplayercore
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv32670/libplayercore
Modified Files:
player.h
Log Message:
applied dalai's SIMULATION_SET_POSE3D support patches. Thanks.
Index: player.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/player.h,v
retrieving revision 1.122
retrieving revision 1.123
diff -C2 -d -r1.122 -r1.123
*** player.h 20 Nov 2006 16:53:46 -0000 1.122
--- player.h 21 Nov 2006 02:12:34 -0000 1.123
***************
*** 4469,4472 ****
--- 4469,4473 ----
object property. */
#define PLAYER_SIMULATION_IDENTIFIER_MAXLEN 64 // 64 bytes - change as needed
+ /** The maximum length of a blob of data for a property */
#define PLAYER_SIMULATION_PROPERTY_DATA_MAXLEN 32767 // 32K - change as
needed
***************
*** 4475,4482 ****
/** Request/reply subtype: get 2D pose */
#define PLAYER_SIMULATION_REQ_GET_POSE2D 2
/** Request/reply subtype: set property value */
! #define PLAYER_SIMULATION_REQ_SET_PROPERTY 3
/** Request/reply subtype: get property value */
! #define PLAYER_SIMULATION_REQ_GET_PROPERTY 4
/** @brief Data
--- 4476,4487 ----
/** Request/reply subtype: get 2D pose */
#define PLAYER_SIMULATION_REQ_GET_POSE2D 2
+ /** Request/reply subtype: set 2D pose */
+ #define PLAYER_SIMULATION_REQ_SET_POSE3D 3
+ /** Request/reply subtype: get 2D pose */
+ #define PLAYER_SIMULATION_REQ_GET_POSE3D 4
/** Request/reply subtype: set property value */
! #define PLAYER_SIMULATION_REQ_SET_PROPERTY 5
/** Request/reply subtype: get property value */
! #define PLAYER_SIMULATION_REQ_GET_PROPERTY 6
/** @brief Data
***************
*** 4516,4522 ****
--- 4521,4547 ----
} player_simulation_pose2d_req_t;
+ /** @brief 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
+ @ref PLAYER_SIMULATION_REQ_GET_POSE3D request. To set the pose of an object
+ in a 3D simulator, send a @ref PLAYER_SIMULATION_REQ_SET_POSE3D request
(response
+ will be null). */
+ typedef struct player_simulation_pose3d_req
+ {
+ /** Length of name */
+ uint32_t name_count;
+ /** the identifier of the object we want to locate */
+ char name[PLAYER_SIMULATION_IDENTIFIER_MAXLEN];
+ /** the desired pose in (m, m, m, rad, rad, rad) */
+ player_pose3d_t pose;
+ /** simulation time when PLAYER_SIMULATION_REQ_GET_POSE3D was serviced. */
+ double simtime;
+ } player_simulation_pose3d_req_t;
+
/** @brief Request/reply: get/set a property of a named simulation object
@par To retrieve an property of an object in a simulator, send a @ref
+
+ @par To retrieve an property of an object in a simulator, send a @ref
PLAYER_SIMULATION_REQ_GET_PROPERTY request. The server will reply with
the value array filled in. The type of the data varies by property and
***************
*** 4534,4538 ****
raw binary object: no architecture-specific type conversions are
performed. Use with caution.
! */
typedef struct player_simulation_property_req
{
--- 4559,4564 ----
raw binary object: no architecture-specific type conversions are
performed. Use with caution.
! */
!
typedef struct player_simulation_property_req
{
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