<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; left:-2.1em; margin-bottom:0px; margin-top:0px; } li.menu { list-style-type: none; position:relative; #left:-0.5em; } #sidebar { position: absolute; left:0px; padding:2em; top:0em; width:12em;} #content { position: absolute; left:12em; top:0em; padding-left:3em; padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; } div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em 0.5ex 0.6em; margin:1em; } div.title { font-weight:bold; background-color:#eee; margin-bottom:2px;} div.topbar { position: absolute; top:0px; left:9em; margin:1em; } </style> <TITLE>Player Manual</TITLE> </HEAD> <body> <div id="sidebar"> <h2 style="text-align:center;"> <a href="index.html"> <img width=140 src="http://playerstage.sourceforge.net/images/player_button_v3.png" alt="Player logo"><br></a> </h2> <div class="box"> <div class=title>Player</div> <ul class=menu> <li class=menu><a href="index.html">Frontpage</a> <li class=menu><a href="modules.html">Contents</a> </ul> </div> <div class="box"> <div class=title>User</div> <ul class=menu> <li class=menu><a href="install.html">Installation</a> <li class=menu><a href="start.html">Quick start</a> <li class=menu><a href="supported_hardware.html">Supported devices</a> <li class=menu><a href="group__tutorials.html">Tutorials</a> <li class=menu><a href="group__utils.html">Utilities</a> <li class=menu><a href="group__clientlibs.html">Client libraries</a> <li class=menu><a href="http://playerstage.sourceforge.net/wiki/Basic_FAQ">FAQ</a> <li class=menu><a href="help.html">Help</a> </ul> </div> <div class=box> <div class="title">Developer</div> <ul class=menu> <li class=menu><a href="architecture.html">Architecture</a> <li class=menu><a href="group__libplayercore.html">libplayercore</a> <ul class=menu1> <li class=menu><a href="group__interfaces.html">interfaces</a></li> </ul> <li class=menu><a href="group__libplayerdrivers.html">libplayerdrivers</a> <ul class=menu1> <li class=menu><a href="group__drivers.html">drivers</a></li> </ul> <li class=menu><a href="group__libplayercommon.html">libplayercommon</a> <li class=menu><a href="group__libplayerutils.html">libplayerutils</a> <li class=menu><a href="group__libplayersd.html">libplayersd</a> <li class=menu><a href="group__libplayertcp.html">libplayertcp</a> <li class=menu><a href="group__libplayerxdr.html">libplayerxdr</a> <li class=menu><a href="todo.html">TODO</a> </ul> </div> <div class=box> <!-- <a href="http://sourceforge.net"><img border=0 src="http://sourceforge.net/sflogo.php?group_id=42445&type=1"></a> --> <div class="title">Online</div> <a href="http://playerstage.sourceforge.net">Homepage</a><br> <a href="http://sourceforge.net/project/showfiles.php?group_id=42445">Download</a><br> <a href="http://sourceforge.net/projects/playerstage">Project</a><br> <a href="http://sourceforge.net/tracker/?group_id=42445">Bugs</a><br> <a href="http://sourceforge.net/mail/?group_id=42445">Help</a> </div> </div> <div id="content" > <!-- Generated by Doxygen 1.7.1 --> <div class="header"> <div class="headertitle"> <h1>ranger format<br/> <small> [<a class="el" href="group__tutorial__datalog.html">Data logging</a>]</small> </h1> </div> </div> <div class="contents"> <p>ranger log format <a href="#_details">More...</a></p> <table class="memberdecls"> </table> <p>ranger log format </p> <p>The following type:subtype ranger messages can be logged:</p> <ul> <li>1:1 (PLAYER_RANGER_DATA_RANGE) - A range scan. The format is:<ul> <li>ranges_count (uint): number of ranges</li> <li>list of ranges_count ranges:<ul> <li>range (double): distance</li> </ul> </li> </ul> </li> </ul> <ul> <li>1:2 (PLAYER_RANGER_DATA_RANGEPOSE) - A range scan optionally with the (possibly estimated) geometry of the device when the scan was acquired and optional sensor configuration. The format is:<ul> <li>ranges_count (uint): number of ranges</li> <li>list of ranges_count ranges:<ul> <li>range (double): distance</li> </ul> </li> <li>have_geom (uint8): If non-zero, the geometry data has been filled</li> <li>geometry of device at the time of range data:<ul> <li>pose of device:<ul> <li>px (float): X coordinate of the pose, in meters</li> <li>py (float): Y coordinate of the pose, in meters</li> <li>pz (float): Z coordinate of the pose, in meters</li> <li>proll (float): roll coordinate of the pose, in radians</li> <li>ppitch (float): pitch coordinate of the pose, in radians</li> <li>pyaw (float): yaw coordinate of the pose, in radians</li> </ul> </li> <li>size of device:<ul> <li>sw (float): width of the device, in meters</li> <li>sl (float): length of the device, in meters</li> <li>sh (float): height of the device, in meters</li> </ul> </li> <li>element_poses_count (uint): pose of each individual range sensor that makes up the device</li> <li>list of element_poses_count poses:<ul> <li>px (float): X coordinate of the pose, in meters</li> <li>py (float): Y coordinate of the pose, in meters</li> <li>pz (float): Z coordinate of the pose, in meters</li> <li>proll (float): roll coordinate of the pose, in radians</li> <li>ppitch (float): pitch coordinate of the pose, in radians</li> <li>pyaw (float): yaw coordinate of the pose, in radians</li> </ul> </li> <li>element_sizes_count (uint): size of each individual range sensor that makes up the device</li> <li>list of element_sizes_count sizes:<ul> <li>sw (float): width of the device, in meters</li> <li>sl (float): length of the device, in meters</li> <li>sh (float): height of the device, in meters</li> </ul> </li> </ul> </li> <li>have_config(uint8): If non-zero, the config data has been filled</li> <li>config of device:<ul> <li>min_angle (float): start angle of scans, in radians</li> <li>max_angle (float): end angle of scans, in radians</li> <li>angular_res (float): scan resolution, in radians</li> <li>min_range (float): minimum range, in meters</li> <li>max_range (float): maximum range, in meters</li> <li>range_res (float): range resolution, in meters</li> <li>frequency (float): scanning frequency, in Hz</li> </ul> </li> </ul> </li> </ul> <ul> <li>1:3 (PLAYER_RANGER_DATA_INTNS) - An intensity scan. The format is:<ul> <li>intensities_count (uint): number of intensities</li> <li>list of intensities_count intensities:<ul> <li>intensity (double)</li> </ul> </li> </ul> </li> </ul> <ul> <li>1:4 (PLAYER_RANGER_DATA_ITNSPOSE) - An intensity scan with an attached pose (estimated from the time of the scan). The format is:<ul> <li>intensities_count (uint): number of intensities</li> <li>list of intensities_count intensities:<ul> <li>intensity (double)</li> </ul> </li> <li>have_geom (uint8): If non-zero, the geometry data has been filled</li> <li>geometry of device at the time of intensity data:<ul> <li>pose of device:<ul> <li>px (float): X coordinate of the pose, in meters</li> <li>py (float): Y coordinate of the pose, in meters</li> <li>pz (float): Z coordinate of the pose, in meters</li> <li>proll (float): roll coordinate of the pose, in radians</li> <li>ppitch (float): pitch coordinate of the pose, in radians</li> <li>pyaw (float): yaw coordinate of the pose, in radians</li> </ul> </li> <li>size of device:<ul> <li>sw (float): width of the device, in meters</li> <li>sl (float): length of the device, in meters</li> <li>sh (float): height of the device, in meters</li> </ul> </li> <li>element_poses_count (uint): pose of each individual range sensor that makes up the device</li> <li>list of element_poses_count poses:<ul> <li>px (float): X coordinate of the pose, in meters</li> <li>py (float): Y coordinate of the pose, in meters</li> <li>pz (float): Z coordinate of the pose, in meters</li> <li>proll (float): roll coordinate of the pose, in radians</li> <li>ppitch (float): pitch coordinate of the pose, in radians</li> <li>pyaw (float): yaw coordinate of the pose, in radians</li> </ul> </li> <li>element_sizes_count (uint): size of each individual range sensor that makes up the device</li> <li>list of element_sizes_count sizes:<ul> <li>sw (float): width of the device, in meters</li> <li>sl (float): length of the device, in meters</li> <li>sh (float): height of the device, in meters</li> </ul> </li> </ul> </li> <li>have_config(uint8): If non-zero, the config data has been filled</li> <li>config of device:<ul> <li>min_angle (float): start angle of scans, in radians</li> <li>max_angle (float): end angle of scans, in radians</li> <li>angular_res (float): scan resolution, in radians</li> <li>min_range (float): minimum range, in meters</li> <li>max_range (float): maximum range, in meters</li> <li>range_res (float): range resolution, in meters</li> <li>frequency (float): scanning frequency, in Hz</li> </ul> </li> </ul> </li> </ul> <ul> <li>4:1 (PLAYER_RANGER_REQ_GET_GEOM) - Ranger pose information. The format is:<ul> <li>pose of device:<ul> <li>px (float): X coordinate of the pose, in meters</li> <li>py (float): Y coordinate of the pose, in meters</li> <li>pz (float): Z coordinate of the pose, in meters</li> <li>proll (float): roll coordinate of the pose, in radians</li> <li>ppitch (float): pitch coordinate of the pose, in radians</li> <li>pyaw (float): yaw coordinate of the pose, in radians</li> </ul> </li> <li>size of device:<ul> <li>sw (float): width of the device, in meters</li> <li>sl (float): length of the device, in meters</li> <li>sh (float): height of the device, in meters</li> </ul> </li> <li>element_poses_count (uint): pose of each individual range sensor that makes up the device</li> <li>list of element_poses_count poses:<ul> <li>px (float): X coordinate of the pose, in meters</li> <li>py (float): Y coordinate of the pose, in meters</li> <li>pz (float): Z coordinate of the pose, in meters</li> <li>proll (float): roll coordinate of the pose, in radians</li> <li>ppitch (float): pitch coordinate of the pose, in radians</li> <li>pyaw (float): yaw coordinate of the pose, in radians</li> </ul> </li> <li>element_sizes_count (uint): size of each individual range sensor that makes up the device</li> <li>list of element_sizes_count sizes:<ul> <li>sw (float): width of the device, in meters</li> <li>sl (float): length of the device, in meters</li> <li>sh (float): height of the device, in meters </li> </ul> </li> </ul> </li> </ul> </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>