Update of /cvsroot/playerstage/code/player/libplayercore
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv25524/libplayercore
Modified Files:
player.h
Log Message:
Changes to ranger interface (moving some properties to messages).
Index: player.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/player.h,v
retrieving revision 1.131
retrieving revision 1.132
diff -C2 -d -r1.131 -r1.132
*** player.h 16 Jun 2007 02:20:34 -0000 1.131
--- player.h 17 Jun 2007 00:28:01 -0000 1.132
***************
*** 4377,4396 ****
@subsection laserprops Laser scanner devices
! (double) min_angle: Start angle of scans [rad].
! (double) max_angle: End angle of scans [rad].
! (double) resolution: Scan resolution [rad].
! (double) max_range: Maximum range [m].
! (double) range_res: Range resolution [m].
! (double) frequency: Scanning frequency [Hz].
@subsection sonarprops Sonar array devices
! (double) max_range: Maximum range [m].
! (double) range_res: Range resolution [m].
@subsection irprops IR array devices
! (double) max_range: Maximum range [m].
! (double) range_res: Range resolution [m].
*/
--- 4377,4389 ----
@subsection laserprops Laser scanner devices
! (string) type: Type of device. For human debugging rather than client
usage.
@subsection sonarprops Sonar array devices
! (string) type: Type of device. For human debugging rather than client
usage.
@subsection irprops IR array devices
! (string) type: Type of device. For human debugging rather than client
usage.
*/
***************
*** 4416,4419 ****
--- 4409,4416 ----
/** Request/reply subtype: intensity data config */
#define PLAYER_RANGER_REQ_INTNS 3
+ /** Request/reply subtype: set configuration */
+ #define PLAYER_RANGER_REQ_SET_CONFIG 4
+ /** Request/reply subtype: get configuration */
+ #define PLAYER_RANGER_REQ_GET_CONFIG 5
/** @brief Data and Request/reply: Get geometry. (@ref
PLAYER_RANGER_REQ_GET_GEOM)
***************
*** 4503,4506 ****
--- 4500,4522 ----
} player_ranger_intns_config_t;
+ /** @brief Device configuration request (@ref PLAYER_RANGER_REQ_GET_CONFIG)
+
+ Request and change the device's configuration. */
+ typedef struct player_ranger_config
+ {
+ /** Start angle of scans [rad]. May be unfilled. */
+ double min_angle;
+ /** End angle of scans [rad]. May be unfilled. */
+ double max_angle;
+ /** Scan resolution [rad]. May be unfilled. */
+ double resolution;
+ /** Maximum range [m]. May be unfilled. */
+ double max_range;
+ /** Range resolution [m]. May be unfilled. */
+ double range_res;
+ /** Scanning frequency [Hz]. May be unfilled. */
+ double frequency;
+ } player_ranger_config_t;
+
/** @} */
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