bumper
[Interface specifications]


Detailed Description

An array of bumpersThe bumper interface returns data from a bumper array. This interface accepts no commands.

#define PLAYER_BUMPER_MAX_SAMPLES   32
#define PLAYER_BUMPER_GET_GEOM   1
 Request/reply subtype: get geometry.
#define PLAYER_BUMPER_DATA_STATE   1
 Data subtype: state.
#define PLAYER_BUMPER_DATA_GEOM   2
 Data subtype: geometry.
typedef struct
player_bumper_data 
player_bumper_data_t
typedef struct
player_bumper_define 
player_bumper_define_t
typedef struct
player_bumper_geom 
player_bumper_geom_t

Define Documentation

#define PLAYER_BUMPER_MAX_SAMPLES   32

Maximum number of bumper samples


Typedef Documentation

Data: state (PLAYER_BUMPER_DATA_GEOM)The bumper interface gives current bumper state

The geometry of a single bumper

Data AND Request/reply: bumper geometryTo query the geometry of a bumper array, send a null PLAYER_BUMPER_GET_GEOM request. The response will be in this form. This message may also be sent as data with the subtype PLAYER_BUMPER_DATA_GEOM (e.g., from a robot whose bumper can move with respect to its body)


Last updated 12 September 2005 21:38:45