planner
[Interface specifications]


Detailed Description

A planar path-plannerThe planner interface provides control of a 2-D motion planner.

#define PLAYER_PLANNER_MAX_WAYPOINTS   128
#define PLAYER_PLANNER_DATA_STATE   1
 Data subtype: state.
#define PLAYER_PLANNER_CMD_GOAL   1
 Command subtype: state.
#define PLAYER_PLANNER_REQ_GET_WAYPOINTS   1
 Request subtype: get waypoints.
#define PLAYER_PLANNER_REQ_ENABLE   2
 Request subtype: enable / disable planner.
typedef struct
player_planner_data 
player_planner_data_t
typedef struct
player_planner_cmd 
player_planner_cmd_t
typedef struct
player_planner_waypoints_req 
player_planner_waypoints_req_t
typedef struct
player_planner_enable_req 
player_planner_enable_req_t

Define Documentation

#define PLAYER_PLANNER_MAX_WAYPOINTS   128

maximum number of waypoints in a single plan


Typedef Documentation

Command: state (PLAYER_PLANNER_CMD_GOAL)The planner interface accepts a new goal.

Data: state (PLAYER_PLANNER_DATA_STATE)The planner interface reports the current execution state of the planner.

Request/reply: Enable/disable robot motionTo enable or disable the planner, send a PLAYER_PLANNER_REQ_ENABLE request. When disabled, the planner will stop the robot. When enabled, the planner should resume plan execution. Null response.

Request/reply: Get waypointsTo retrieve the list of waypoints, send a null PLAYER_PLANNER_REQ_GET_WAYPOINTS request.


Last updated 12 September 2005 21:38:45