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Sophie

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player-doc-3.0.2-5.fc14.noarch.rpm

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<h1>actarray<br/>
<small>
[<a class="el" href="group__interfaces.html">Interface specifications</a>]</small>
</h1>  </div>
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<div class="contents">

<p>An array of actuators.  
<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="ga5b7a23c7a918afacb961023eaa66b893"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_REQ_POWER" ref="ga5b7a23c7a918afacb961023eaa66b893" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga5b7a23c7a918afacb961023eaa66b893">PLAYER_ACTARRAY_REQ_POWER</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga5e53c5270687a7c8a9a8e1a7c7fa7b08"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_REQ_BRAKES" ref="ga5e53c5270687a7c8a9a8e1a7c7fa7b08" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga5e53c5270687a7c8a9a8e1a7c7fa7b08">PLAYER_ACTARRAY_REQ_BRAKES</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaada8c6cd0cad088aac5e83c61c07f9f1"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_REQ_GET_GEOM" ref="gaada8c6cd0cad088aac5e83c61c07f9f1" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gaada8c6cd0cad088aac5e83c61c07f9f1">PLAYER_ACTARRAY_REQ_GET_GEOM</a>&nbsp;&nbsp;&nbsp;3</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gafa77126c8bd1ed206b9e42b712f33950"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_REQ_SPEED" ref="gafa77126c8bd1ed206b9e42b712f33950" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gafa77126c8bd1ed206b9e42b712f33950">PLAYER_ACTARRAY_REQ_SPEED</a>&nbsp;&nbsp;&nbsp;4</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga52c48562078085f18f6fce4439172165"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_REQ_ACCEL" ref="ga52c48562078085f18f6fce4439172165" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga52c48562078085f18f6fce4439172165">PLAYER_ACTARRAY_REQ_ACCEL</a>&nbsp;&nbsp;&nbsp;5</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga16bbc0d570d5502ec30732d7de1ac19d"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_CMD_POS" ref="ga16bbc0d570d5502ec30732d7de1ac19d" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga16bbc0d570d5502ec30732d7de1ac19d">PLAYER_ACTARRAY_CMD_POS</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gabc6411a2c0a1a204bcc5dbcf61f768cb"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_CMD_MULTI_POS" ref="gabc6411a2c0a1a204bcc5dbcf61f768cb" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gabc6411a2c0a1a204bcc5dbcf61f768cb">PLAYER_ACTARRAY_CMD_MULTI_POS</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga554c62c6d3229c83cc95797432f1c3e7"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_CMD_SPEED" ref="ga554c62c6d3229c83cc95797432f1c3e7" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga554c62c6d3229c83cc95797432f1c3e7">PLAYER_ACTARRAY_CMD_SPEED</a>&nbsp;&nbsp;&nbsp;3</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaba07b1d50d409a42047f67325792a8e4"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_CMD_MULTI_SPEED" ref="gaba07b1d50d409a42047f67325792a8e4" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gaba07b1d50d409a42047f67325792a8e4">PLAYER_ACTARRAY_CMD_MULTI_SPEED</a>&nbsp;&nbsp;&nbsp;4</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga036013dcbd987cef2e839986f8093875"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_CMD_HOME" ref="ga036013dcbd987cef2e839986f8093875" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga036013dcbd987cef2e839986f8093875">PLAYER_ACTARRAY_CMD_HOME</a>&nbsp;&nbsp;&nbsp;5</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga4e333721b05921afb5be92ce30760f1c"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_CMD_CURRENT" ref="ga4e333721b05921afb5be92ce30760f1c" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga4e333721b05921afb5be92ce30760f1c">PLAYER_ACTARRAY_CMD_CURRENT</a>&nbsp;&nbsp;&nbsp;6</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga85eb15286d9f8d412e9b1151b813780c"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_CMD_MULTI_CURRENT" ref="ga85eb15286d9f8d412e9b1151b813780c" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga85eb15286d9f8d412e9b1151b813780c">PLAYER_ACTARRAY_CMD_MULTI_CURRENT</a>&nbsp;&nbsp;&nbsp;7</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga272bee3de3cc934163ad6a9ff12c4570"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_DATA_STATE" ref="ga272bee3de3cc934163ad6a9ff12c4570" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga272bee3de3cc934163ad6a9ff12c4570">PLAYER_ACTARRAY_DATA_STATE</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gab43a20e7c540ded3de82bc5d8f43fc70"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_ACTSTATE_IDLE" ref="gab43a20e7c540ded3de82bc5d8f43fc70" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gab43a20e7c540ded3de82bc5d8f43fc70">PLAYER_ACTARRAY_ACTSTATE_IDLE</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Idle state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaf5b8e94e5da26ee7e03ad717b6e54804"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_ACTSTATE_MOVING" ref="gaf5b8e94e5da26ee7e03ad717b6e54804" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gaf5b8e94e5da26ee7e03ad717b6e54804">PLAYER_ACTARRAY_ACTSTATE_MOVING</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Moving state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaaf050ae69393736b12a57858d3dd60d2"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_ACTSTATE_BRAKED" ref="gaaf050ae69393736b12a57858d3dd60d2" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gaaf050ae69393736b12a57858d3dd60d2">PLAYER_ACTARRAY_ACTSTATE_BRAKED</a>&nbsp;&nbsp;&nbsp;4</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Braked state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga68c9f3d25b510e63c70fe37fc6a5ec6d"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_ACTSTATE_STALLED" ref="ga68c9f3d25b510e63c70fe37fc6a5ec6d" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga68c9f3d25b510e63c70fe37fc6a5ec6d">PLAYER_ACTARRAY_ACTSTATE_STALLED</a>&nbsp;&nbsp;&nbsp;8</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Stalled state code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga3c51e727b3fc7f5f759de977843f4edb"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_TYPE_LINEAR" ref="ga3c51e727b3fc7f5f759de977843f4edb" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga3c51e727b3fc7f5f759de977843f4edb">PLAYER_ACTARRAY_TYPE_LINEAR</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Linear type code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gadb87469c2ab05ada11c1281934058053"></a><!-- doxytag: member="interface_actarray::PLAYER_ACTARRAY_TYPE_ROTARY" ref="gadb87469c2ab05ada11c1281934058053" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gadb87469c2ab05ada11c1281934058053">PLAYER_ACTARRAY_TYPE_ROTARY</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Rotary type code. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gad4f450d2f467d51ed0452bb79e985549"></a><!-- doxytag: member="interface_actarray::player_actarray_actuator_t" ref="gad4f450d2f467d51ed0452bb79e985549" args="" -->
typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__actuator.html">player_actarray_actuator</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gad4f450d2f467d51ed0452bb79e985549">player_actarray_actuator_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Structure containing a single actuator's information. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__actarray__data.html">player_actarray_data</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga1cf645394eae312e66eae57d82267905">player_actarray_data_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: state (<a class="el" href="group__interface__actarray.html#ga272bee3de3cc934163ad6a9ff12c4570">PLAYER_ACTARRAY_DATA_STATE</a>).  <a href="#ga1cf645394eae312e66eae57d82267905"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaf236b89be92acdeb9e17dc334356fc3b"></a><!-- doxytag: member="interface_actarray::player_actarray_actuatorgeom_t" ref="gaf236b89be92acdeb9e17dc334356fc3b" args="" -->
typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__actuatorgeom.html">player_actarray_actuatorgeom</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gaf236b89be92acdeb9e17dc334356fc3b">player_actarray_actuatorgeom_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Actuator geometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__actarray__geom.html">player_actarray_geom</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gaca532f13fdb56c3f4f05681092092588">player_actarray_geom_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: get geometry.  <a href="#gaca532f13fdb56c3f4f05681092092588"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__position__cmd.html">player_actarray_position_cmd</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gacb8aa0834e7ed0afcd270f3e3b72ffa0">player_actarray_position_cmd_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Command: Joint position control (<a class="el" href="group__interface__actarray.html#ga16bbc0d570d5502ec30732d7de1ac19d">PLAYER_ACTARRAY_CMD_POS</a>).  <a href="#gacb8aa0834e7ed0afcd270f3e3b72ffa0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__multi__position__cmd.html">player_actarray_multi_position_cmd</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga222d1e7163e863921ee753ffc415367d">player_actarray_multi_position_cmd_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Command: Multiple Joint position control (<a class="el" href="group__interface__actarray.html#gabc6411a2c0a1a204bcc5dbcf61f768cb">PLAYER_ACTARRAY_CMD_MULTI_POS</a>).  <a href="#ga222d1e7163e863921ee753ffc415367d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__speed__cmd.html">player_actarray_speed_cmd</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga5a57c5b1058bb46bb2d1ebc992ae9555">player_actarray_speed_cmd_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Command: Joint speed control (<a class="el" href="group__interface__actarray.html#ga554c62c6d3229c83cc95797432f1c3e7">PLAYER_ACTARRAY_CMD_SPEED</a>).  <a href="#ga5a57c5b1058bb46bb2d1ebc992ae9555"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__multi__speed__cmd.html">player_actarray_multi_speed_cmd</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gaf86c84b1a66eba4c1d19993632f34594">player_actarray_multi_speed_cmd_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Command: Multiple Joint speed control (<a class="el" href="group__interface__actarray.html#gaba07b1d50d409a42047f67325792a8e4">PLAYER_ACTARRAY_CMD_MULTI_SPEED</a>).  <a href="#gaf86c84b1a66eba4c1d19993632f34594"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__home__cmd.html">player_actarray_home_cmd</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga59a00653cd7b4db67fbf1d57bd6af3cb">player_actarray_home_cmd_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Command: Joint home (PLAYER_CMD_ACTARRAY_HOME).  <a href="#ga59a00653cd7b4db67fbf1d57bd6af3cb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__current__cmd.html">player_actarray_current_cmd</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga43d2a1100feadcf4ad6193ed58576087">player_actarray_current_cmd_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Command: Joint current control (<a class="el" href="group__interface__actarray.html#ga4e333721b05921afb5be92ce30760f1c">PLAYER_ACTARRAY_CMD_CURRENT</a>).  <a href="#ga43d2a1100feadcf4ad6193ed58576087"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__multi__current__cmd.html">player_actarray_multi_current_cmd</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga6efa11ee3f9948530e8a20b6c4e1650d">player_actarray_multi_current_cmd_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Command: Multiple Joint current control (<a class="el" href="group__interface__actarray.html#ga85eb15286d9f8d412e9b1151b813780c">PLAYER_ACTARRAY_CMD_MULTI_CURRENT</a>).  <a href="#ga6efa11ee3f9948530e8a20b6c4e1650d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__power__config.html">player_actarray_power_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gacf8addbfec04ebb8588c33a7ccd2f0cd">player_actarray_power_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Power.  <a href="#gacf8addbfec04ebb8588c33a7ccd2f0cd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__brakes__config.html">player_actarray_brakes_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#ga57dcd265ece34c692a12023f65f1ad84">player_actarray_brakes_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Brakes.  <a href="#ga57dcd265ece34c692a12023f65f1ad84"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__speed__config.html">player_actarray_speed_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gad7b97e5920cf51161d28b0ab5ee2f254">player_actarray_speed_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Speed.  <a href="#gad7b97e5920cf51161d28b0ab5ee2f254"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__actarray__accel__config.html">player_actarray_accel_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__actarray.html#gae96f7c8840d236d6fcb147767b3d6dda">player_actarray_accel_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Acceleration.  <a href="#gae96f7c8840d236d6fcb147767b3d6dda"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>An array of actuators. </p>
<p>The actuator array interface provides access to an array of actuators. </p>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="gae96f7c8840d236d6fcb147767b3d6dda"></a><!-- doxytag: member="player_interfaces.h::player_actarray_accel_config_t" ref="gae96f7c8840d236d6fcb147767b3d6dda" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__accel__config.html">player_actarray_accel_config</a>  <a class="el" href="structplayer__actarray__accel__config.html">player_actarray_accel_config_t</a></td>
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<p>Request/reply: Acceleration. </p>
<p>Send a <a class="el" href="group__interface__actarray.html#ga52c48562078085f18f6fce4439172165">PLAYER_ACTARRAY_REQ_ACCEL</a> request to set the acceleration of a joint for all subsequent movements. Null response. </p>

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<a class="anchor" id="ga57dcd265ece34c692a12023f65f1ad84"></a><!-- doxytag: member="player_interfaces.h::player_actarray_brakes_config_t" ref="ga57dcd265ece34c692a12023f65f1ad84" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__brakes__config.html">player_actarray_brakes_config</a>  <a class="el" href="structplayer__actarray__brakes__config.html">player_actarray_brakes_config_t</a></td>
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<p>Request/reply: Brakes. </p>
<p>Send a <a class="el" href="group__interface__actarray.html#ga5e53c5270687a7c8a9a8e1a7c7fa7b08">PLAYER_ACTARRAY_REQ_BRAKES</a> request to turn the brakes of all actuators in the array (that have them) on or off. Null response. </p>

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<a class="anchor" id="ga43d2a1100feadcf4ad6193ed58576087"></a><!-- doxytag: member="player_interfaces.h::player_actarray_current_cmd_t" ref="ga43d2a1100feadcf4ad6193ed58576087" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__current__cmd.html">player_actarray_current_cmd</a>  <a class="el" href="structplayer__actarray__current__cmd.html">player_actarray_current_cmd_t</a></td>
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<p>Command: Joint current control (<a class="el" href="group__interface__actarray.html#ga4e333721b05921afb5be92ce30760f1c">PLAYER_ACTARRAY_CMD_CURRENT</a>). </p>
<p>Tells a joint/actuator to attempt to move with the given current. </p>

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<a class="anchor" id="ga1cf645394eae312e66eae57d82267905"></a><!-- doxytag: member="player_interfaces.h::player_actarray_data_t" ref="ga1cf645394eae312e66eae57d82267905" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__data.html">player_actarray_data</a>  <a class="el" href="structplayer__actarray__data.html">player_actarray_data_t</a></td>
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<p>Data: state (<a class="el" href="group__interface__actarray.html#ga272bee3de3cc934163ad6a9ff12c4570">PLAYER_ACTARRAY_DATA_STATE</a>). </p>
<p>The actuator array data packet. </p>

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<a class="anchor" id="gaca532f13fdb56c3f4f05681092092588"></a><!-- doxytag: member="player_interfaces.h::player_actarray_geom_t" ref="gaca532f13fdb56c3f4f05681092092588" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__geom.html">player_actarray_geom</a>  <a class="el" href="structplayer__actarray__geom.html">player_actarray_geom_t</a></td>
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<p>Request/reply: get geometry. </p>
<p>Send a null <a class="el" href="group__interface__actarray.html#gaada8c6cd0cad088aac5e83c61c07f9f1">PLAYER_ACTARRAY_REQ_GET_GEOM</a> request to receive the geometry in this form. </p>

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<a class="anchor" id="ga59a00653cd7b4db67fbf1d57bd6af3cb"></a><!-- doxytag: member="player_interfaces.h::player_actarray_home_cmd_t" ref="ga59a00653cd7b4db67fbf1d57bd6af3cb" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__home__cmd.html">player_actarray_home_cmd</a>  <a class="el" href="structplayer__actarray__home__cmd.html">player_actarray_home_cmd_t</a></td>
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<p>Command: Joint home (PLAYER_CMD_ACTARRAY_HOME). </p>
<p>Tells a joint/actuator (or the whole array) to go to home position. </p>

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<a class="anchor" id="ga6efa11ee3f9948530e8a20b6c4e1650d"></a><!-- doxytag: member="player_interfaces.h::player_actarray_multi_current_cmd_t" ref="ga6efa11ee3f9948530e8a20b6c4e1650d" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__multi__current__cmd.html">player_actarray_multi_current_cmd</a>  <a class="el" href="structplayer__actarray__multi__current__cmd.html">player_actarray_multi_current_cmd_t</a></td>
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<p>Command: Multiple Joint current control (<a class="el" href="group__interface__actarray.html#ga85eb15286d9f8d412e9b1151b813780c">PLAYER_ACTARRAY_CMD_MULTI_CURRENT</a>). </p>
<p>Tells all joints/actuators to attempt to move with the given current. </p>

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<a class="anchor" id="ga222d1e7163e863921ee753ffc415367d"></a><!-- doxytag: member="player_interfaces.h::player_actarray_multi_position_cmd_t" ref="ga222d1e7163e863921ee753ffc415367d" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__multi__position__cmd.html">player_actarray_multi_position_cmd</a>  <a class="el" href="structplayer__actarray__multi__position__cmd.html">player_actarray_multi_position_cmd_t</a></td>
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<p>Command: Multiple Joint position control (<a class="el" href="group__interface__actarray.html#gabc6411a2c0a1a204bcc5dbcf61f768cb">PLAYER_ACTARRAY_CMD_MULTI_POS</a>). </p>
<p>Tells all joints/actuators to attempt to move to the given positions. </p>

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<a class="anchor" id="gaf86c84b1a66eba4c1d19993632f34594"></a><!-- doxytag: member="player_interfaces.h::player_actarray_multi_speed_cmd_t" ref="gaf86c84b1a66eba4c1d19993632f34594" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__multi__speed__cmd.html">player_actarray_multi_speed_cmd</a>  <a class="el" href="structplayer__actarray__multi__speed__cmd.html">player_actarray_multi_speed_cmd_t</a></td>
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<p>Command: Multiple Joint speed control (<a class="el" href="group__interface__actarray.html#gaba07b1d50d409a42047f67325792a8e4">PLAYER_ACTARRAY_CMD_MULTI_SPEED</a>). </p>
<p>Tells all joints/actuators to attempt to move with the given velocities. </p>

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<a class="anchor" id="gacb8aa0834e7ed0afcd270f3e3b72ffa0"></a><!-- doxytag: member="player_interfaces.h::player_actarray_position_cmd_t" ref="gacb8aa0834e7ed0afcd270f3e3b72ffa0" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__position__cmd.html">player_actarray_position_cmd</a>  <a class="el" href="structplayer__actarray__position__cmd.html">player_actarray_position_cmd_t</a></td>
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<p>Command: Joint position control (<a class="el" href="group__interface__actarray.html#ga16bbc0d570d5502ec30732d7de1ac19d">PLAYER_ACTARRAY_CMD_POS</a>). </p>
<p>Tells a joint/actuator to attempt to move to a requested position. </p>

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<a class="anchor" id="gacf8addbfec04ebb8588c33a7ccd2f0cd"></a><!-- doxytag: member="player_interfaces.h::player_actarray_power_config_t" ref="gacf8addbfec04ebb8588c33a7ccd2f0cd" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__power__config.html">player_actarray_power_config</a>  <a class="el" href="structplayer__actarray__power__config.html">player_actarray_power_config_t</a></td>
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<p>Request/reply: Power. </p>
<p>Send a <a class="el" href="group__interface__actarray.html#ga5b7a23c7a918afacb961023eaa66b893">PLAYER_ACTARRAY_REQ_POWER</a> request to turn the power to all actuators in the array on or off. Be careful when turning power on that the array is not obstructed from its home position in case it moves to it (common behaviour). Null response. </p>

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<a class="anchor" id="ga5a57c5b1058bb46bb2d1ebc992ae9555"></a><!-- doxytag: member="player_interfaces.h::player_actarray_speed_cmd_t" ref="ga5a57c5b1058bb46bb2d1ebc992ae9555" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__speed__cmd.html">player_actarray_speed_cmd</a>  <a class="el" href="structplayer__actarray__speed__cmd.html">player_actarray_speed_cmd_t</a></td>
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<p>Command: Joint speed control (<a class="el" href="group__interface__actarray.html#ga554c62c6d3229c83cc95797432f1c3e7">PLAYER_ACTARRAY_CMD_SPEED</a>). </p>
<p>Tells a joint/actuator to attempt to move with the given speed. </p>

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<a class="anchor" id="gad7b97e5920cf51161d28b0ab5ee2f254"></a><!-- doxytag: member="player_interfaces.h::player_actarray_speed_config_t" ref="gad7b97e5920cf51161d28b0ab5ee2f254" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__actarray__speed__config.html">player_actarray_speed_config</a>  <a class="el" href="structplayer__actarray__speed__config.html">player_actarray_speed_config_t</a></td>
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<p>Request/reply: Speed. </p>
<p>Send a <a class="el" href="group__interface__actarray.html#gafa77126c8bd1ed206b9e42b712f33950">PLAYER_ACTARRAY_REQ_SPEED</a> request to set the speed of a joint for all subsequent movements. Null response. </p>

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Last updated 12 September 2005 21:38:45
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