Sophie

Sophie

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

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<h1>position3d<br/>
<small>
[<a class="el" href="group__interfaces.html">Interface specifications</a>]</small>
</h1>  </div>
</div>
<div class="contents">

<p>A robot that moves in 3-D.  
<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="ga0982c916bb2bf8e6f51b906e3a24cb3d"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_DATA_STATE" ref="ga0982c916bb2bf8e6f51b906e3a24cb3d" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga0982c916bb2bf8e6f51b906e3a24cb3d">PLAYER_POSITION3D_DATA_STATE</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gabdf6d94b80d5daa69b687b49823dc80c"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_DATA_GEOMETRY" ref="gabdf6d94b80d5daa69b687b49823dc80c" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#gabdf6d94b80d5daa69b687b49823dc80c">PLAYER_POSITION3D_DATA_GEOMETRY</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: geometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga8b3dd0e534d6eb2cecd800e6ef229ac1"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_CMD_SET_VEL" ref="ga8b3dd0e534d6eb2cecd800e6ef229ac1" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga8b3dd0e534d6eb2cecd800e6ef229ac1">PLAYER_POSITION3D_CMD_SET_VEL</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Command subtype: velocity control. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga4d02c1ae0758b3174d2a5c6a819b2e0a"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_CMD_SET_POS" ref="ga4d02c1ae0758b3174d2a5c6a819b2e0a" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga4d02c1ae0758b3174d2a5c6a819b2e0a">PLAYER_POSITION3D_CMD_SET_POS</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Command subtype: position control. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga459234d785a23ecc6b2cf98736117a6e"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_REQ_GET_GEOM" ref="ga459234d785a23ecc6b2cf98736117a6e" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga459234d785a23ecc6b2cf98736117a6e">PLAYER_POSITION3D_REQ_GET_GEOM</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: get geometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gae84de84469c89f4f9d5834eae02a36b0"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_REQ_MOTOR_POWER" ref="gae84de84469c89f4f9d5834eae02a36b0" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#gae84de84469c89f4f9d5834eae02a36b0">PLAYER_POSITION3D_REQ_MOTOR_POWER</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: motor power. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga34bc895dc9e93fa53a81ef1e0002d771"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_REQ_VELOCITY_MODE" ref="ga34bc895dc9e93fa53a81ef1e0002d771" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga34bc895dc9e93fa53a81ef1e0002d771">PLAYER_POSITION3D_REQ_VELOCITY_MODE</a>&nbsp;&nbsp;&nbsp;3</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: velocity mode. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gac6361a1c3690772d18daf8457ceffe77"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_REQ_POSITION_MODE" ref="gac6361a1c3690772d18daf8457ceffe77" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#gac6361a1c3690772d18daf8457ceffe77">PLAYER_POSITION3D_REQ_POSITION_MODE</a>&nbsp;&nbsp;&nbsp;4</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: position mode. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga5418395dc7aa5e4817d47cf8520bd236"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_REQ_RESET_ODOM" ref="ga5418395dc7aa5e4817d47cf8520bd236" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga5418395dc7aa5e4817d47cf8520bd236">PLAYER_POSITION3D_REQ_RESET_ODOM</a>&nbsp;&nbsp;&nbsp;5</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: reset odometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaf795d3aa34868ecdd638884f5c589555"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_REQ_SET_ODOM" ref="gaf795d3aa34868ecdd638884f5c589555" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#gaf795d3aa34868ecdd638884f5c589555">PLAYER_POSITION3D_REQ_SET_ODOM</a>&nbsp;&nbsp;&nbsp;6</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: set odometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaa901c3e35fd5bcaadbd82bf5562e532f"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_REQ_SPEED_PID" ref="gaa901c3e35fd5bcaadbd82bf5562e532f" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#gaa901c3e35fd5bcaadbd82bf5562e532f">PLAYER_POSITION3D_REQ_SPEED_PID</a>&nbsp;&nbsp;&nbsp;7</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: set speed PID params. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gab00888d57af239748bba76ab94944140"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_REQ_POSITION_PID" ref="gab00888d57af239748bba76ab94944140" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#gab00888d57af239748bba76ab94944140">PLAYER_POSITION3D_REQ_POSITION_PID</a>&nbsp;&nbsp;&nbsp;8</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: set position PID params. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga98c8c342b80dd2f9f8e01e017b7e7257"></a><!-- doxytag: member="interface_position3d::PLAYER_POSITION3D_REQ_SPEED_PROF" ref="ga98c8c342b80dd2f9f8e01e017b7e7257" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga98c8c342b80dd2f9f8e01e017b7e7257">PLAYER_POSITION3D_REQ_SPEED_PROF</a>&nbsp;&nbsp;&nbsp;9</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: set speed profile params. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position3d__data.html">player_position3d_data</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#gab837a165824a072efab5df01db375264">player_position3d_data_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: state (<a class="el" href="group__interface__position3d.html#ga0982c916bb2bf8e6f51b906e3a24cb3d">PLAYER_POSITION3D_DATA_STATE</a>).  <a href="#gab837a165824a072efab5df01db375264"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position3d__cmd__pos.html">player_position3d_cmd_pos</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga0f2844ed19c9a3b919616b3bef6bcac0">player_position3d_cmd_pos_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Command: position (<a class="el" href="group__interface__position3d.html#ga4d02c1ae0758b3174d2a5c6a819b2e0a">PLAYER_POSITION3D_CMD_SET_POS</a>).  <a href="#ga0f2844ed19c9a3b919616b3bef6bcac0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position3d__cmd__vel.html">player_position3d_cmd_vel</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga5d021f1ff18de29d9b2435315415bb80">player_position3d_cmd_vel_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Command: velocity (<a class="el" href="group__interface__position3d.html#ga8b3dd0e534d6eb2cecd800e6ef229ac1">PLAYER_POSITION3D_CMD_SET_VEL</a>).  <a href="#ga5d021f1ff18de29d9b2435315415bb80"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position3d__geom.html">player_position3d_geom</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga1c6e45ca724b7ca5cf2dc3a404a7f430">player_position3d_geom_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Query geometry.  <a href="#ga1c6e45ca724b7ca5cf2dc3a404a7f430"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position3d__power__config.html">player_position3d_power_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#gadea84ae120f0f68da638a69c75002b45">player_position3d_power_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Motor power.  <a href="#gadea84ae120f0f68da638a69c75002b45"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position3d__position__mode__req.html">player_position3d_position_mode_req</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#gad005c4ef4cb23cf2b44b70c5b7826305">player_position3d_position_mode_req_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Change position control.  <a href="#gad005c4ef4cb23cf2b44b70c5b7826305"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position3d__velocity__mode__config.html">player_position3d_velocity_mode_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga942a1dd9e31748e97937ec9b8195c161">player_position3d_velocity_mode_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Change velocity control.  <a href="#ga942a1dd9e31748e97937ec9b8195c161"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position3d__set__odom__req.html">player_position3d_set_odom_req</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#gaa3badd3abe767fb1e8db2316b9e93f67">player_position3d_set_odom_req_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Set odometry.  <a href="#gaa3badd3abe767fb1e8db2316b9e93f67"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position3d__speed__pid__req.html">player_position3d_speed_pid_req</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga407553b86466f9345195d49612a0841d">player_position3d_speed_pid_req_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Reset odometry.  <a href="#ga407553b86466f9345195d49612a0841d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position3d__position__pid__req.html">player_position3d_position_pid_req</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga3325d712dc39a017a0cb8a169def5908">player_position3d_position_pid_req_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Set position PID parameters.  <a href="#ga3325d712dc39a017a0cb8a169def5908"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position3d__speed__prof__req.html">player_position3d_speed_prof_req</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position3d.html#ga5c9b69437e4558ee9c0dbe2b0ec690f7">player_position3d_speed_prof_req_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Set speed profile parameters.  <a href="#ga5c9b69437e4558ee9c0dbe2b0ec690f7"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A robot that moves in 3-D. </p>
<p>The position3d interface is used to control mobile robot bases in 3D (i.e., pitch and roll are important). </p>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="ga0f2844ed19c9a3b919616b3bef6bcac0"></a><!-- doxytag: member="player_interfaces.h::player_position3d_cmd_pos_t" ref="ga0f2844ed19c9a3b919616b3bef6bcac0" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">typedef struct <a class="el" href="structplayer__position3d__cmd__pos.html">player_position3d_cmd_pos</a>  <a class="el" href="structplayer__position3d__cmd__pos.html">player_position3d_cmd_pos_t</a></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Command: position (<a class="el" href="group__interface__position3d.html#ga4d02c1ae0758b3174d2a5c6a819b2e0a">PLAYER_POSITION3D_CMD_SET_POS</a>). </p>
<p>It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both). </p>

</div>
</div>
<a class="anchor" id="ga5d021f1ff18de29d9b2435315415bb80"></a><!-- doxytag: member="player_interfaces.h::player_position3d_cmd_vel_t" ref="ga5d021f1ff18de29d9b2435315415bb80" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">typedef struct <a class="el" href="structplayer__position3d__cmd__vel.html">player_position3d_cmd_vel</a>  <a class="el" href="structplayer__position3d__cmd__vel.html">player_position3d_cmd_vel_t</a></td>
        </tr>
      </table>
</div>
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<p>Command: velocity (<a class="el" href="group__interface__position3d.html#ga8b3dd0e534d6eb2cecd800e6ef229ac1">PLAYER_POSITION3D_CMD_SET_VEL</a>). </p>
<p>It accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both). </p>

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<a class="anchor" id="gab837a165824a072efab5df01db375264"></a><!-- doxytag: member="player_interfaces.h::player_position3d_data_t" ref="gab837a165824a072efab5df01db375264" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__position3d__data.html">player_position3d_data</a>  <a class="el" href="structplayer__position3d__data.html">player_position3d_data_t</a></td>
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<p>Data: state (<a class="el" href="group__interface__position3d.html#ga0982c916bb2bf8e6f51b906e3a24cb3d">PLAYER_POSITION3D_DATA_STATE</a>). </p>
<p>This interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information. </p>

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<a class="anchor" id="ga1c6e45ca724b7ca5cf2dc3a404a7f430"></a><!-- doxytag: member="player_interfaces.h::player_position3d_geom_t" ref="ga1c6e45ca724b7ca5cf2dc3a404a7f430" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__position3d__geom.html">player_position3d_geom</a>  <a class="el" href="structplayer__position3d__geom.html">player_position3d_geom_t</a></td>
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<p>Request/reply: Query geometry. </p>
<p>To request robot geometry, send a null PLAYER_POSITION3D_GET_GEOM request. </p>

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<a class="anchor" id="gad005c4ef4cb23cf2b44b70c5b7826305"></a><!-- doxytag: member="player_interfaces.h::player_position3d_position_mode_req_t" ref="gad005c4ef4cb23cf2b44b70c5b7826305" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__position3d__position__mode__req.html">player_position3d_position_mode_req</a>  <a class="el" href="structplayer__position3d__position__mode__req.html">player_position3d_position_mode_req_t</a></td>
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<p>Request/reply: Change position control. </p>
<p>To change control mode, send a PLAYER_POSITION3D_POSITION_MODE request. Null response. </p>

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<a class="anchor" id="ga3325d712dc39a017a0cb8a169def5908"></a><!-- doxytag: member="player_interfaces.h::player_position3d_position_pid_req_t" ref="ga3325d712dc39a017a0cb8a169def5908" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__position3d__position__pid__req.html">player_position3d_position_pid_req</a>  <a class="el" href="structplayer__position3d__position__pid__req.html">player_position3d_position_pid_req_t</a></td>
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<p>Request/reply: Set position PID parameters. </p>
<p>To set position PID parameters, send a PLAYER_POSITION3D_POSITION_PID request. Null response. </p>

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<a class="anchor" id="gadea84ae120f0f68da638a69c75002b45"></a><!-- doxytag: member="player_interfaces.h::player_position3d_power_config_t" ref="gadea84ae120f0f68da638a69c75002b45" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__position3d__power__config.html">player_position3d_power_config</a>  <a class="el" href="structplayer__position3d__power__config.html">player_position3d_power_config_t</a></td>
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<p>Request/reply: Motor power. </p>
<p>On some robots, the motor power can be turned on and off from software. To do so, send a <a class="el" href="group__interface__position3d.html#gae84de84469c89f4f9d5834eae02a36b0">PLAYER_POSITION3D_REQ_MOTOR_POWER</a> request with the format given below, and with the appropriate <code>state</code> (zero for motors off and non-zero for motors on). Null response.</p>
<p>Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached. </p>

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<a class="anchor" id="gaa3badd3abe767fb1e8db2316b9e93f67"></a><!-- doxytag: member="player_interfaces.h::player_position3d_set_odom_req_t" ref="gaa3badd3abe767fb1e8db2316b9e93f67" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__position3d__set__odom__req.html">player_position3d_set_odom_req</a>  <a class="el" href="structplayer__position3d__set__odom__req.html">player_position3d_set_odom_req_t</a></td>
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<p>Request/reply: Set odometry. </p>
<p>To set the robot's odometry to a particular state, send a PLAYER_POSITION3D_SET_ODOM request. Null response. </p>

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<a class="anchor" id="ga407553b86466f9345195d49612a0841d"></a><!-- doxytag: member="player_interfaces.h::player_position3d_speed_pid_req_t" ref="ga407553b86466f9345195d49612a0841d" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__position3d__speed__pid__req.html">player_position3d_speed_pid_req</a>  <a class="el" href="structplayer__position3d__speed__pid__req.html">player_position3d_speed_pid_req_t</a></td>
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<p>Request/reply: Reset odometry. </p>
<p>To reset the robot's odometry to <img class="formulaInl" alt="$(x,y,\theta) = (0,0,0)$" src="form_1.png"/>, send a PLAYER_POSITION3D_RESET_ODOM request. Null response. Request/reply: Set velocity PID parameters.</p>
<p>To set velocity PID parameters, send a PLAYER_POSITION3D_SPEED_PID request. Null response. </p>

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<a class="anchor" id="ga5c9b69437e4558ee9c0dbe2b0ec690f7"></a><!-- doxytag: member="player_interfaces.h::player_position3d_speed_prof_req_t" ref="ga5c9b69437e4558ee9c0dbe2b0ec690f7" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__position3d__speed__prof__req.html">player_position3d_speed_prof_req</a>  <a class="el" href="structplayer__position3d__speed__prof__req.html">player_position3d_speed_prof_req_t</a></td>
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<p>Request/reply: Set speed profile parameters. </p>
<p>To set speed profile parameters, send a PLAYER_POSITION3D_SPEED_PROF request. Null response. </p>

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<a class="anchor" id="ga942a1dd9e31748e97937ec9b8195c161"></a><!-- doxytag: member="player_interfaces.h::player_position3d_velocity_mode_config_t" ref="ga942a1dd9e31748e97937ec9b8195c161" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__position3d__velocity__mode__config.html">player_position3d_velocity_mode_config</a>  <a class="el" href="structplayer__position3d__velocity__mode__config.html">player_position3d_velocity_mode_config_t</a></td>
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<p>Request/reply: Change velocity control. </p>
<p>Some robots offer different velocity control modes. It can be changed by sending a PLAYER_POSITION3D_VELOCITY_MODE request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the <code>position3d</code> device remains the same. Null response. </p>

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Last updated 12 September 2005 21:38:45
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