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<h1>limb<br/>
<small>
[<a class="el" href="group__interfaces.html">Interface specifications</a>]</small>
</h1> </div>
</div>
<div class="contents">
<p>A multi-jointed limb.
<a href="#_details">More...</a></p>
<table class="memberdecls">
<tr><td colspan="2"><p><a class="anchor" id="amgrpd41d8cd98f00b204e9800998ecf8427e"></a> </p>
<br/><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga4cef13c4ea7ec2033bf59410ee79d5a4"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_STATE_IDLE" ref="ga4cef13c4ea7ec2033bf59410ee79d5a4" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga4cef13c4ea7ec2033bf59410ee79d5a4">PLAYER_LIMB_STATE_IDLE</a> 1</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Idle. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga9c719f7d8dc47e58a0654550a5028b48"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_STATE_BRAKED" ref="ga9c719f7d8dc47e58a0654550a5028b48" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga9c719f7d8dc47e58a0654550a5028b48">PLAYER_LIMB_STATE_BRAKED</a> 2</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Brakes are on. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga4ab4b75a22ded77cbc92bd2ab19350d6"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_STATE_MOVING" ref="ga4ab4b75a22ded77cbc92bd2ab19350d6" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga4ab4b75a22ded77cbc92bd2ab19350d6">PLAYER_LIMB_STATE_MOVING</a> 3</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Moving to target. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gadc98b96878de95fa7a902b622dd600f9"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_STATE_OOR" ref="gadc98b96878de95fa7a902b622dd600f9" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#gadc98b96878de95fa7a902b622dd600f9">PLAYER_LIMB_STATE_OOR</a> 4</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Target was out of reach. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga13b295a970e4215acd43d1644e53d796"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_STATE_COLL" ref="ga13b295a970e4215acd43d1644e53d796" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga13b295a970e4215acd43d1644e53d796">PLAYER_LIMB_STATE_COLL</a> 5</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Target was blocked by collision. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga4f58e697863d20e1240171ae393af942"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_DATA_STATE" ref="ga4f58e697863d20e1240171ae393af942" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga4f58e697863d20e1240171ae393af942">PLAYER_LIMB_DATA_STATE</a> 1</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Data subtype: state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#gac69f71d888c699637418a52f842221d2">PLAYER_LIMB_CMD_HOME</a> 1</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command: home (PLAYER_LIMB_HOME_CMD). <a href="#gac69f71d888c699637418a52f842221d2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga996b717f3e34e01180f0ec2aea63f95c">PLAYER_LIMB_CMD_STOP</a> 2</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command: stop (PLAYER_LIMB_STOP_CMD). <a href="#ga996b717f3e34e01180f0ec2aea63f95c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaffce871172e4e81f5f4095d919fc6bcd"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_CMD_SETPOSE" ref="gaffce871172e4e81f5f4095d919fc6bcd" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#gaffce871172e4e81f5f4095d919fc6bcd">PLAYER_LIMB_CMD_SETPOSE</a> 3</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command subtype: set pose. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga024832a55cba6288039fc4d84d964a61"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_CMD_SETPOSITION" ref="ga024832a55cba6288039fc4d84d964a61" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga024832a55cba6288039fc4d84d964a61">PLAYER_LIMB_CMD_SETPOSITION</a> 4</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command subtype: set position. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga2f8182a090923b9be31fe2f03d56d9af"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_CMD_VECMOVE" ref="ga2f8182a090923b9be31fe2f03d56d9af" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga2f8182a090923b9be31fe2f03d56d9af">PLAYER_LIMB_CMD_VECMOVE</a> 5</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command subtype: vector move. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga788bb90bdbdec62300d8522f4c40e2a1"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_REQ_POWER" ref="ga788bb90bdbdec62300d8522f4c40e2a1" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga788bb90bdbdec62300d8522f4c40e2a1">PLAYER_LIMB_REQ_POWER</a> 1</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: power. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga8a1a543184e07879dad6641ae74028c5"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_REQ_BRAKES" ref="ga8a1a543184e07879dad6641ae74028c5" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga8a1a543184e07879dad6641ae74028c5">PLAYER_LIMB_REQ_BRAKES</a> 2</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: brakes. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga3b86feb67ed1a6fd73418471a03b7738"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_REQ_GEOM" ref="ga3b86feb67ed1a6fd73418471a03b7738" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga3b86feb67ed1a6fd73418471a03b7738">PLAYER_LIMB_REQ_GEOM</a> 3</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: geometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga1aa7787fd4ae8e9ea5ac3c95c01b67a0"></a><!-- doxytag: member="interface_limb::PLAYER_LIMB_REQ_SPEED" ref="ga1aa7787fd4ae8e9ea5ac3c95c01b67a0" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga1aa7787fd4ae8e9ea5ac3c95c01b67a0">PLAYER_LIMB_REQ_SPEED</a> 4</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: speed. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__limb__data.html">player_limb_data</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga8dc86e54ba9bf6aac4249c9103b46178">player_limb_data_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Data: state (PLAYER_LIMB_DATA). <a href="#ga8dc86e54ba9bf6aac4249c9103b46178"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__limb__setpose__cmd.html">player_limb_setpose_cmd</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga8f2f2e23eda9de59cc20fa17841560a9">player_limb_setpose_cmd_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command: Set end effector pose (<a class="el" href="group__interface__limb.html#gaffce871172e4e81f5f4095d919fc6bcd">PLAYER_LIMB_CMD_SETPOSE</a>). <a href="#ga8f2f2e23eda9de59cc20fa17841560a9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__limb__setposition__cmd.html">player_limb_setposition_cmd</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga5c1cdd1a8a029df4e156f4beba30c610">player_limb_setposition_cmd_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command: Set end effector position (<a class="el" href="group__interface__limb.html#ga024832a55cba6288039fc4d84d964a61">PLAYER_LIMB_CMD_SETPOSITION</a>). <a href="#ga5c1cdd1a8a029df4e156f4beba30c610"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__limb__vecmove__cmd.html">player_limb_vecmove_cmd</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#ga91b8760f937d0f9cd3e589f6fad043c7">player_limb_vecmove_cmd_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command: Vector move the end effector (<a class="el" href="group__interface__limb.html#ga2f8182a090923b9be31fe2f03d56d9af">PLAYER_LIMB_CMD_VECMOVE</a>). <a href="#ga91b8760f937d0f9cd3e589f6fad043c7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__limb__power__req.html">player_limb_power_req</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#gafd62f56d21ad4dd319c167e464839f73">player_limb_power_req_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Power. <a href="#gafd62f56d21ad4dd319c167e464839f73"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__limb__brakes__req.html">player_limb_brakes_req</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#gad708228ed21f5bdc6caaeac85e01d3da">player_limb_brakes_req_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Brakes. <a href="#gad708228ed21f5bdc6caaeac85e01d3da"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__limb__geom__req.html">player_limb_geom_req</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#gabaf3011d30121cbf3fee043aa81b5697">player_limb_geom_req_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: get geometry. <a href="#gabaf3011d30121cbf3fee043aa81b5697"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__limb__speed__req.html">player_limb_speed_req</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__limb.html#gaa0ef476df8d8f30a0ec8fcedc82a9114">player_limb_speed_req_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Speed. <a href="#gaa0ef476df8d8f30a0ec8fcedc82a9114"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A multi-jointed limb. </p>
<p>The limb interface provides access to a multi-jointed limb </p>
<hr/><h2>Define Documentation</h2>
<a class="anchor" id="gac69f71d888c699637418a52f842221d2"></a><!-- doxytag: member="player_interfaces.h::PLAYER_LIMB_CMD_HOME" ref="gac69f71d888c699637418a52f842221d2" args="" -->
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<td class="memname">#define PLAYER_LIMB_CMD_HOME 1</td>
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<div class="memdoc">
<p>Command: home (PLAYER_LIMB_HOME_CMD). </p>
<p>Tells the end effector to return to its home position. </p>
<p>Referenced by <a class="el" href="classP2OS.html#a91bda6c36ac50b99c6cf4a3f9258cb8c">P2OS::ProcessMessage()</a>.</p>
</div>
</div>
<a class="anchor" id="ga996b717f3e34e01180f0ec2aea63f95c"></a><!-- doxytag: member="player_interfaces.h::PLAYER_LIMB_CMD_STOP" ref="ga996b717f3e34e01180f0ec2aea63f95c" args="" -->
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<td class="memname">#define PLAYER_LIMB_CMD_STOP 2</td>
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<div class="memdoc">
<p>Command: stop (PLAYER_LIMB_STOP_CMD). </p>
<p>Tells the limb to stop moving immediatly. </p>
<p>Referenced by <a class="el" href="classP2OS.html#a91bda6c36ac50b99c6cf4a3f9258cb8c">P2OS::ProcessMessage()</a>.</p>
</div>
</div>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="gad708228ed21f5bdc6caaeac85e01d3da"></a><!-- doxytag: member="player_interfaces.h::player_limb_brakes_req_t" ref="gad708228ed21f5bdc6caaeac85e01d3da" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__limb__brakes__req.html">player_limb_brakes_req</a> <a class="el" href="structplayer__limb__brakes__req.html">player_limb_brakes_req_t</a></td>
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<div class="memdoc">
<p>Request/reply: Brakes. </p>
<p>Turn the brakes of the limb on or off by sending a <a class="el" href="group__interface__limb.html#ga8a1a543184e07879dad6641ae74028c5">PLAYER_LIMB_REQ_BRAKES</a> request. Null response </p>
</div>
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<a class="anchor" id="ga8dc86e54ba9bf6aac4249c9103b46178"></a><!-- doxytag: member="player_interfaces.h::player_limb_data_t" ref="ga8dc86e54ba9bf6aac4249c9103b46178" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__limb__data.html">player_limb_data</a> <a class="el" href="structplayer__limb__data.html">player_limb_data_t</a></td>
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<div class="memdoc">
<p>Data: state (PLAYER_LIMB_DATA). </p>
<p>The limb data packet. </p>
</div>
</div>
<a class="anchor" id="gabaf3011d30121cbf3fee043aa81b5697"></a><!-- doxytag: member="player_interfaces.h::player_limb_geom_req_t" ref="gabaf3011d30121cbf3fee043aa81b5697" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__limb__geom__req.html">player_limb_geom_req</a> <a class="el" href="structplayer__limb__geom__req.html">player_limb_geom_req_t</a></td>
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<div class="memdoc">
<p>Request/reply: get geometry. </p>
<p>Query geometry by sending a null <a class="el" href="group__interface__limb.html#ga3b86feb67ed1a6fd73418471a03b7738">PLAYER_LIMB_REQ_GEOM</a> reqest. </p>
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<a class="anchor" id="gafd62f56d21ad4dd319c167e464839f73"></a><!-- doxytag: member="player_interfaces.h::player_limb_power_req_t" ref="gafd62f56d21ad4dd319c167e464839f73" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__limb__power__req.html">player_limb_power_req</a> <a class="el" href="structplayer__limb__power__req.html">player_limb_power_req_t</a></td>
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<p>Request/reply: Power. </p>
<p>Turn the power to the limb by sending a <a class="el" href="group__interface__limb.html#ga788bb90bdbdec62300d8522f4c40e2a1">PLAYER_LIMB_REQ_POWER</a> request. Be careful when turning power on that the limb is not obstructed from its home position in case it moves to it (common behaviour). Null reponse </p>
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<a class="anchor" id="ga8f2f2e23eda9de59cc20fa17841560a9"></a><!-- doxytag: member="player_interfaces.h::player_limb_setpose_cmd_t" ref="ga8f2f2e23eda9de59cc20fa17841560a9" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__limb__setpose__cmd.html">player_limb_setpose_cmd</a> <a class="el" href="structplayer__limb__setpose__cmd.html">player_limb_setpose_cmd_t</a></td>
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<p>Command: Set end effector pose (<a class="el" href="group__interface__limb.html#gaffce871172e4e81f5f4095d919fc6bcd">PLAYER_LIMB_CMD_SETPOSE</a>). </p>
<p>Provides a fully-described pose (position, normal vector and orientation vector) for the end effector to move to. </p>
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<a class="anchor" id="ga5c1cdd1a8a029df4e156f4beba30c610"></a><!-- doxytag: member="player_interfaces.h::player_limb_setposition_cmd_t" ref="ga5c1cdd1a8a029df4e156f4beba30c610" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__limb__setposition__cmd.html">player_limb_setposition_cmd</a> <a class="el" href="structplayer__limb__setposition__cmd.html">player_limb_setposition_cmd_t</a></td>
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<p>Command: Set end effector position (<a class="el" href="group__interface__limb.html#ga024832a55cba6288039fc4d84d964a61">PLAYER_LIMB_CMD_SETPOSITION</a>). </p>
<p>Set the position of the end effector without worrying about a specific orientation. </p>
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<a class="anchor" id="gaa0ef476df8d8f30a0ec8fcedc82a9114"></a><!-- doxytag: member="player_interfaces.h::player_limb_speed_req_t" ref="gaa0ef476df8d8f30a0ec8fcedc82a9114" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__limb__speed__req.html">player_limb_speed_req</a> <a class="el" href="structplayer__limb__speed__req.html">player_limb_speed_req_t</a></td>
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<p>Request/reply: Speed. </p>
<p>Set the speed of the end effector for all subsequent movements by sending a <a class="el" href="group__interface__limb.html#ga1aa7787fd4ae8e9ea5ac3c95c01b67a0">PLAYER_LIMB_REQ_SPEED</a> request. Null response. </p>
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<a class="anchor" id="ga91b8760f937d0f9cd3e589f6fad043c7"></a><!-- doxytag: member="player_interfaces.h::player_limb_vecmove_cmd_t" ref="ga91b8760f937d0f9cd3e589f6fad043c7" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__limb__vecmove__cmd.html">player_limb_vecmove_cmd</a> <a class="el" href="structplayer__limb__vecmove__cmd.html">player_limb_vecmove_cmd_t</a></td>
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<p>Command: Vector move the end effector (<a class="el" href="group__interface__limb.html#ga2f8182a090923b9be31fe2f03d56d9af">PLAYER_LIMB_CMD_VECMOVE</a>). </p>
<p>Move the end effector along the provided vector from its current position for the provided distance. </p>
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Last updated 12 September 2005 21:38:45
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