Update of /cvsroot/playerstage/code/player/libplayercore
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30641/libplayercore
Modified Files:
player.h
Log Message:
applied patches for yarp and xsense driver, and new IMU interface
Index: player.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/player.h,v
retrieving revision 1.111
retrieving revision 1.112
diff -C2 -d -r1.111 -r1.112
*** player.h 7 Aug 2006 14:17:59 -0000 1.111
--- player.h 8 Aug 2006 18:42:38 -0000 1.112
***************
*** 159,162 ****
--- 159,163 ----
#define PLAYER_GRAPHICS3D_CODE 58 // Graphics3D interface
#define PLAYER_HEALTH_CODE 59 // Statgrab Health interface
+ #define PLAYER_IMU_CODE 60 // Inertial Measurement Unit interface
/** @} */
***************
*** 187,190 ****
--- 188,192 ----
#define PLAYER_GRAPHICS2D_STRING "graphics2d"
#define PLAYER_GRAPHICS3D_STRING "graphics3d"
+ #define PLAYER_IMU_STRING "imu"
#define PLAYER_HEALTH_STRING "health"
#define PLAYER_IR_STRING "ir"
***************
*** 2141,2144 ****
--- 2143,2251 ----
//
/////////////////////////////////////////////////////////////////////////////
/** @ingroup interfaces
+ * @defgroup interface_imu imu
+ * @brief Inertial Measurement Unit
+
+ The @p imu interface provides access to an Inertial Measurement Unit sensor
+ (such as the XSens MTx/MTi).
+ */
+
+ /** @ingroup interface_imu
+ * @{ */
+
+ /** Data subtype: IMU position/orientation data */
+ #define PLAYER_IMU_DATA_STATE 1
+ /** Data subtype: Calibrated IMU data */
+ #define PLAYER_IMU_DATA_CALIB 2
+ /** Data subtype: Quaternions orientation data */
+ #define PLAYER_IMU_DATA_QUAT 3
+ /** Data subtype: Euler orientation data */
+ #define PLAYER_IMU_DATA_EULER 4
+
+ /** Request/reply subtype: set data type */
+ #define PLAYER_IMU_REQ_SET_DATATYPE 1
+
+ /** @brief Data: calibrated IMU data (@ref PLAYER_IMU_DATA_STATE)
+
+ The @p imu interface returns the complete 3D coordinates + angles position in
+ space, of the IMU sensor. */
+ typedef struct player_imu_data_state
+ {
+ /** The complete pose of the IMU in 3D coordinates + angles */
+ player_pose3d_t pose;
+ } player_imu_data_state_t;
+
+ /** @brief Data: calibrated IMU data (@ref PLAYER_IMU_DATA_CALIB)
+
+ The @p imu interface returns calibrated acceleration, gyro and magnetic
values
+ from the IMU sensor. */
+ typedef struct player_imu_data_calib
+ {
+ /** The IMU's calibrated acceleration value on X-axis. */
+ float accel_x;
+ /** The IMU's calibrated acceleration value on Y-axis. */
+ float accel_y;
+ /** The IMU's calibrated acceleration value on Z-axis. */
+ float accel_z;
+ /** The IMU's calibrated gyro value on X-axis. */
+ float gyro_x;
+ /** The IMU's calibrated gyro value on Y-axis. */
+ float gyro_y;
+ /** The IMU's calibrated gyro value on Z-axis. */
+ float gyro_z;
+ /** The IMU's calibrated magnetic value on X-axis. */
+ float magn_x;
+ /** The IMU's calibrated magnetic value on Y-axis. */
+ float magn_y;
+ /** The IMU's calibrated magnetic value on Z-axis. */
+ float magn_z;
+ } player_imu_data_calib_t;
+
+ /** @brief Data: Quaternions orientation data (@ref PLAYER_IMU_DATA_QUAT)
+
+ The @p imu interface returns calibrated IMU values as well as orientation data
+ as quaternions. */
+ typedef struct player_imu_data_quat
+ {
+ /** Calibrated IMU data (accel, gyro, magnetometer) */
+ player_imu_data_calib_t calib_data;
+
+ /** Orientation data as quaternions */
+ float q0;
+ float q1;
+ float q2;
+ float q3;
+ } player_imu_data_quat_t;
+
+ /** @brief Data: Euler orientation data (@ref PLAYER_IMU_DATA_EULER)
+
+ The @p imu interface returns calibrated IMU values as well as orientation data
+ as Euler angles. */
+ typedef struct player_imu_data_euler
+ {
+ /** Calibrated IMU data (accel, gyro, magnetometer) */
+ player_imu_data_calib_t calib_data;
+
+ /** Orientation data as Euler angles */
+ player_orientation_3d_t orientation;
+ } player_imu_data_euler_t;
+
+ /** @brief Request/reply: change the data type to one of the predefined data
+ structures.
+
+ Send a @ref PLAYER_IMU_REQ_SET_DATATYPE request to switch between calibrated
+ data, 3D pose and orientation, Euler orientation or Quaternions orientation
+ in the data packet. Null response. */
+ typedef struct player_imu_datatype_config
+ {
+ /** Data type setting: 1 for pose/orientation, 2 for calibrated (raw)
data,
+ 3 for quaternions, 4 for Euler.
+ */
+ uint8_t value;
+ } player_imu_datatype_config_t;
+
+ /** @} */
+
+ //
/////////////////////////////////////////////////////////////////////////////
+ /** @ingroup interfaces
* @defgroup interface_ir ir
* @brief Array of infrared rangers
***************
*** 2269,2275 ****
/** Request/reply subtype: get geometry */
#define PLAYER_LASER_REQ_GET_GEOM 1
- /** Request/reply subtype: get configuration */
- #define PLAYER_LASER_REQ_SET_CONFIG 2
/** Request/reply subtype: set configuration */
#define PLAYER_LASER_REQ_GET_CONFIG 3
/** Request/reply subtype: set power */
--- 2376,2382 ----
/** Request/reply subtype: get geometry */
#define PLAYER_LASER_REQ_GET_GEOM 1
/** Request/reply subtype: set configuration */
+ #define PLAYER_LASER_REQ_SET_CONFIG 2
+ /** Request/reply subtype: get configuration */
#define PLAYER_LASER_REQ_GET_CONFIG 3
/** Request/reply subtype: set power */
***************
*** 4673,4677 ****
/** The node's acceleration on X-axis from an acceleration sensor.
*/
float accel_x;
! /** The node's acceleration on y-axis from an acceleration sensor.
*/
float accel_y;
/** The node's acceleration on Z-axis from an acceleration sensor.
*/
--- 4780,4784 ----
/** The node's acceleration on X-axis from an acceleration sensor.
*/
float accel_x;
! /** The node's acceleration on Y-axis from an acceleration sensor.
*/
float accel_y;
/** The node's acceleration on Z-axis from an acceleration sensor.
*/
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