planner
[Interface specifications]
Detailed Description
A planar path-plannerTheplanner 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
| typedef struct player_planner_cmd player_planner_cmd_t |
Command: state (PLAYER_PLANNER_CMD_GOAL)The planner interface accepts a new goal.
| typedef struct player_planner_data player_planner_data_t |
Data: state (PLAYER_PLANNER_DATA_STATE)The planner interface reports the current execution state of the planner.
| typedef struct player_planner_enable_req player_planner_enable_req_t |
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.
| typedef struct player_planner_waypoints_req player_planner_waypoints_req_t |
Request/reply: Get waypointsTo retrieve the list of waypoints, send a null PLAYER_PLANNER_REQ_GET_WAYPOINTS request.