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<div id="content" > <!-- Generated by Doxygen 1.7.1 --> <div class="header"> <div class="headertitle"> <h1>sonar<br/> <small> [<a class="el" href="group__interfaces.html">Interface specifications</a>]</small> </h1> </div> </div> <div class="contents"> <p><b>DEPRECATED</b> Array of ultrasonic rangers <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="ga45656a48917e10274088612b0abb9c92"></a><!-- doxytag: member="interface_sonar::PLAYER_SONAR_REQ_GET_GEOM" ref="ga45656a48917e10274088612b0abb9c92" args="" --> #define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__sonar.html#ga45656a48917e10274088612b0abb9c92">PLAYER_SONAR_REQ_GET_GEOM</a> 1</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply subtype: get geometry. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga6d1516d01ff7c8c3b1e15b037f744a09"></a><!-- doxytag: member="interface_sonar::PLAYER_SONAR_REQ_POWER" ref="ga6d1516d01ff7c8c3b1e15b037f744a09" args="" --> #define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__sonar.html#ga6d1516d01ff7c8c3b1e15b037f744a09">PLAYER_SONAR_REQ_POWER</a> 2</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply subtype: power. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaf8eee80bf413a9cb2c443dbc81bd12d3"></a><!-- doxytag: member="interface_sonar::PLAYER_SONAR_DATA_RANGES" ref="gaf8eee80bf413a9cb2c443dbc81bd12d3" args="" --> #define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__sonar.html#gaf8eee80bf413a9cb2c443dbc81bd12d3">PLAYER_SONAR_DATA_RANGES</a> 1</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Data subtype: ranges. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga85129945cecde5b8562167ebdb84ee8c"></a><!-- doxytag: member="interface_sonar::PLAYER_SONAR_DATA_GEOM" ref="ga85129945cecde5b8562167ebdb84ee8c" args="" --> #define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__sonar.html#ga85129945cecde5b8562167ebdb84ee8c">PLAYER_SONAR_DATA_GEOM</a> 2</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Data subtype: geometry. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__sonar__data.html">player_sonar_data</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__sonar.html#ga077142b1b7c4cd33b7d3a959f9d74524">player_sonar_data_t</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Data: ranges (<a class="el" href="group__interface__sonar.html#gaf8eee80bf413a9cb2c443dbc81bd12d3">PLAYER_SONAR_DATA_RANGES</a>). <a href="#ga077142b1b7c4cd33b7d3a959f9d74524"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__sonar__geom.html">player_sonar_geom</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__sonar.html#gaa37fd7cef44481e3ca8a48e3fe68443d">player_sonar_geom_t</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Data AND Request/reply: geometry. <a href="#gaa37fd7cef44481e3ca8a48e3fe68443d"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/> <a class="el" href="structplayer__sonar__power__config.html">player_sonar_power_config</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__sonar.html#ga62990e4e6f3189fe7ad72d10ef43effc">player_sonar_power_config_t</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: <a class="el" href="classSonar.html">Sonar</a> power. <a href="#ga62990e4e6f3189fe7ad72d10ef43effc"></a><br/></td></tr> </table> <hr/><a name="_details"></a><h2>Detailed Description</h2> <p><b>DEPRECATED</b> Array of ultrasonic rangers </p> <p>The <code>sonar</code> interface provides access to a collection of fixed range sensors, such as a sonar array.</p> <p>This interface is <b>deprecated</b>. Use the <a class="el" href="group__interface__ranger.html">ranger</a> instead. </p> <hr/><h2>Typedef Documentation</h2> <a class="anchor" id="ga077142b1b7c4cd33b7d3a959f9d74524"></a><!-- doxytag: member="player_interfaces.h::player_sonar_data_t" ref="ga077142b1b7c4cd33b7d3a959f9d74524" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">typedef struct <a class="el" href="structplayer__sonar__data.html">player_sonar_data</a> <a class="el" href="structplayer__sonar__data.html">player_sonar_data_t</a></td> </tr> </table> </div> <div class="memdoc"> <p>Data: ranges (<a class="el" href="group__interface__sonar.html#gaf8eee80bf413a9cb2c443dbc81bd12d3">PLAYER_SONAR_DATA_RANGES</a>). </p> <p>The <code>sonar</code> interface returns up to PLAYER_SONAR_MAX_SAMPLES range readings from a robot's sonars. </p> </div> </div> <a class="anchor" id="gaa37fd7cef44481e3ca8a48e3fe68443d"></a><!-- doxytag: member="player_interfaces.h::player_sonar_geom_t" ref="gaa37fd7cef44481e3ca8a48e3fe68443d" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">typedef struct <a class="el" href="structplayer__sonar__geom.html">player_sonar_geom</a> <a class="el" href="structplayer__sonar__geom.html">player_sonar_geom_t</a></td> </tr> </table> </div> <div class="memdoc"> <p>Data AND Request/reply: geometry. </p> <p>To query the geometry of the sonar transducers, send a null <a class="el" href="group__interface__sonar.html#ga45656a48917e10274088612b0abb9c92">PLAYER_SONAR_REQ_GET_GEOM</a> request. Depending on the underlying driver, this message can also be sent as data with the subtype <a class="el" href="group__interface__sonar.html#ga85129945cecde5b8562167ebdb84ee8c">PLAYER_SONAR_DATA_GEOM</a>. </p> </div> </div> <a class="anchor" id="ga62990e4e6f3189fe7ad72d10ef43effc"></a><!-- doxytag: member="player_interfaces.h::player_sonar_power_config_t" ref="ga62990e4e6f3189fe7ad72d10ef43effc" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">typedef struct <a class="el" href="structplayer__sonar__power__config.html">player_sonar_power_config</a> <a class="el" href="structplayer__sonar__power__config.html">player_sonar_power_config_t</a></td> </tr> </table> </div> <div class="memdoc"> <p>Request/reply: <a class="el" href="classSonar.html">Sonar</a> power. </p> <p>On some robots, the sonars can be turned on and off from software. To do so, send a <a class="el" href="group__interface__sonar.html#ga6d1516d01ff7c8c3b1e15b037f744a09">PLAYER_SONAR_REQ_POWER</a> request. Null response. </p> </div> </div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>