Update of /cvsroot/playerstage/code/player/libplayercore/interfaces
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5290/libplayercore/interfaces
Modified Files:
004_position2d.def
Log Message:
updated .cfg files and docs
Index: 004_position2d.def
===================================================================
RCS file:
/cvsroot/playerstage/code/player/libplayercore/interfaces/004_position2d.def,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** 004_position2d.def 20 Aug 2007 06:37:26 -0000 1.1
--- 004_position2d.def 13 Dec 2007 20:23:03 -0000 1.2
***************
*** 43,51 ****
/** forward velocity (m/s) */
double velocity;
! /** turning angle (rad) */
double angle;
} player_position2d_cmd_car_t;
!
typedef struct player_position2d_geom
--- 43,57 ----
/** forward velocity (m/s) */
double velocity;
! /** relative turning angle (rad) */
double angle;
} player_position2d_cmd_car_t;
! typedef struct player_position2d_cmd_vel_head
! {
! /** forward velocity (m/s) */
! double velocity;
! /** absolute turning angle (rad) */
! double angle;
! } player_position2d_cmd_vel_head_t;
typedef struct player_position2d_geom
***************
*** 234,239 ****
/** @brief Command: carlike (@ref PLAYER_POSITION2D_CMD_CAR)
! The @p position interface accepts new carlike velocity commands (speed and
turning angle)
for the robot's motors (only supported by some drivers). */
message { CMD, CAR, 2, player_position2d_cmd_car_t };
--- 240,250 ----
/** @brief Command: carlike (@ref PLAYER_POSITION2D_CMD_CAR)
! The @p position interface accepts carlike translational velocity + constant
turn commands (speed and turning angle)
for the robot's motors (only supported by some drivers). */
message { CMD, CAR, 2, player_position2d_cmd_car_t };
+
+ /** @brief Command: vel/head (@ref PLAYER_POSITION2D_CMD_VEL_HEAD)
+
+ The @p position interface accepts translational velocity + absolute heading
commands (speed and angular position) for the robot's motors (only supported by
some drivers). */
+ message { CMD, VEL_HEAD , 3, player_position2d_cmd_vel_head_t };
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