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Sophie

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

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

<p>A range sensor.  
<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="ga68dc6d3bc715017657822a0837f111e0"></a><!-- doxytag: member="interface_ranger::PLAYER_RANGER_DATA_RANGE" ref="ga68dc6d3bc715017657822a0837f111e0" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga68dc6d3bc715017657822a0837f111e0">PLAYER_RANGER_DATA_RANGE</a>&nbsp;&nbsp;&nbsp;1</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: range scan. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga5ab518c54fa9d9e58bbd7eceef7d79e4"></a><!-- doxytag: member="interface_ranger::PLAYER_RANGER_DATA_RANGESTAMPED" ref="ga5ab518c54fa9d9e58bbd7eceef7d79e4" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga5ab518c54fa9d9e58bbd7eceef7d79e4">PLAYER_RANGER_DATA_RANGESTAMPED</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: range scan with extra info. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaff20169a029406b0cea50fc2a77d4a81"></a><!-- doxytag: member="interface_ranger::PLAYER_RANGER_DATA_INTNS" ref="gaff20169a029406b0cea50fc2a77d4a81" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#gaff20169a029406b0cea50fc2a77d4a81">PLAYER_RANGER_DATA_INTNS</a>&nbsp;&nbsp;&nbsp;3</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: intensity scan. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaeaba6f924b0c99292712eb6e1561d0a5"></a><!-- doxytag: member="interface_ranger::PLAYER_RANGER_DATA_INTNSSTAMPED" ref="gaeaba6f924b0c99292712eb6e1561d0a5" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#gaeaba6f924b0c99292712eb6e1561d0a5">PLAYER_RANGER_DATA_INTNSSTAMPED</a>&nbsp;&nbsp;&nbsp;4</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: intensity scan with extra info. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga6060639be64f4e5616ea0133856bc6ac"></a><!-- doxytag: member="interface_ranger::PLAYER_RANGER_DATA_GEOM" ref="ga6060639be64f4e5616ea0133856bc6ac" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga6060639be64f4e5616ea0133856bc6ac">PLAYER_RANGER_DATA_GEOM</a>&nbsp;&nbsp;&nbsp;5</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data subtype: sensor geometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaaccba801fcbc594f8abcf702d39301ad"></a><!-- doxytag: member="interface_ranger::PLAYER_RANGER_REQ_GET_GEOM" ref="gaaccba801fcbc594f8abcf702d39301ad" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#gaaccba801fcbc594f8abcf702d39301ad">PLAYER_RANGER_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="ga675503fda5dce30618e786370a6359f1"></a><!-- doxytag: member="interface_ranger::PLAYER_RANGER_REQ_POWER" ref="ga675503fda5dce30618e786370a6359f1" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga675503fda5dce30618e786370a6359f1">PLAYER_RANGER_REQ_POWER</a>&nbsp;&nbsp;&nbsp;2</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: power config. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga4493749ffaff0c286c00c4a3b2e04816"></a><!-- doxytag: member="interface_ranger::PLAYER_RANGER_REQ_INTNS" ref="ga4493749ffaff0c286c00c4a3b2e04816" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga4493749ffaff0c286c00c4a3b2e04816">PLAYER_RANGER_REQ_INTNS</a>&nbsp;&nbsp;&nbsp;3</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: intensity data config. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gad44e02b7f9e3b9b11a774300eaed6079"></a><!-- doxytag: member="interface_ranger::PLAYER_RANGER_REQ_SET_CONFIG" ref="gad44e02b7f9e3b9b11a774300eaed6079" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#gad44e02b7f9e3b9b11a774300eaed6079">PLAYER_RANGER_REQ_SET_CONFIG</a>&nbsp;&nbsp;&nbsp;4</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: set configuration. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga2fd1bb9cd76155772e3a2fe0ff319af1"></a><!-- doxytag: member="interface_ranger::PLAYER_RANGER_REQ_GET_CONFIG" ref="ga2fd1bb9cd76155772e3a2fe0ff319af1" args="" -->
#define&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga2fd1bb9cd76155772e3a2fe0ff319af1">PLAYER_RANGER_REQ_GET_CONFIG</a>&nbsp;&nbsp;&nbsp;5</td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply subtype: get configuration. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__ranger__config.html">player_ranger_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga8e26667a10a226e61e76dab959bcc8f2">player_ranger_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight"><a class="el" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a> configuration request (<a class="el" href="group__interface__ranger.html#ga2fd1bb9cd76155772e3a2fe0ff319af1">PLAYER_RANGER_REQ_GET_CONFIG</a>).  <a href="#ga8e26667a10a226e61e76dab959bcc8f2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structplayer__ranger__geom.html">player_ranger_geom</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga4b4a64ba285a69796aee164c9a7c08f8">player_ranger_geom_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data and Request/reply: Get geometry.  <a href="#ga4b4a64ba285a69796aee164c9a7c08f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__ranger__data__range.html">player_ranger_data_range</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga9542c5b33024f0c0c9dfe24dce2ffe06">player_ranger_data_range_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: range scan (<a class="el" href="group__interface__ranger.html#ga68dc6d3bc715017657822a0837f111e0">PLAYER_RANGER_DATA_RANGE</a>).  <a href="#ga9542c5b33024f0c0c9dfe24dce2ffe06"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__ranger__data__rangestamped.html">player_ranger_data_rangestamped</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga07df3063df0d1096cbbb10eeecf6d291">player_ranger_data_rangestamped_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: Stamped range scan (<a class="el" href="group__interface__ranger.html#ga5ab518c54fa9d9e58bbd7eceef7d79e4">PLAYER_RANGER_DATA_RANGESTAMPED</a>).  <a href="#ga07df3063df0d1096cbbb10eeecf6d291"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__ranger__data__intns.html">player_ranger_data_intns</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga0880ad473f4ab2f15b2809c0a256f58a">player_ranger_data_intns_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: intensity scan (<a class="el" href="group__interface__ranger.html#gaff20169a029406b0cea50fc2a77d4a81">PLAYER_RANGER_DATA_INTNS</a>).  <a href="#ga0880ad473f4ab2f15b2809c0a256f58a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__ranger__data__intnsstamped.html">player_ranger_data_intnsstamped</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#gad5c15966517400aa4abd2ddc0284798a">player_ranger_data_intnsstamped_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Data: Stamped intensity scan (<a class="el" href="group__interface__ranger.html#gaeaba6f924b0c99292712eb6e1561d0a5">PLAYER_RANGER_DATA_INTNSSTAMPED</a>).  <a href="#gad5c15966517400aa4abd2ddc0284798a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__ranger__power__config.html">player_ranger_power_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga23dec250853cec33461dc9b19b761f53">player_ranger_power_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Turn power on/off (<a class="el" href="group__interface__ranger.html#ga675503fda5dce30618e786370a6359f1">PLAYER_RANGER_REQ_POWER</a>).  <a href="#ga23dec250853cec33461dc9b19b761f53"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__ranger__intns__config.html">player_ranger_intns_config</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__ranger.html#ga40a437877a63cb31ae42dd38fdfbe198">player_ranger_intns_config_t</a></td></tr>
<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Request/reply: Turn intensity data on/off for devices that provide it (<a class="el" href="group__interface__ranger.html#ga4493749ffaff0c286c00c4a3b2e04816">PLAYER_RANGER_REQ_INTNS</a>).  <a href="#ga40a437877a63cb31ae42dd38fdfbe198"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A range sensor. </p>
<p>Receive data from a range sensor, such as a laser scanner, sonar array or IR array.</p>
<p>This interface is designed for sensors that return a single set of values, such as a planar laser scanner, or for arrays of sensors that each produce a single value, such as an array (possibly multi-dimensional) of sonar devices or infra- red sensors. If you are implementing a driver for a sensor such as a complex laser scanner that returns multiple sets of values with each scan, you should either provide one ranger device per value set, using the same timestamp in each to allow synchronisation, or provide a pointcloud3d device.</p>
<p>The ranges and intensities arrays are implemented based on these principles. This means that if the sensor is made up of a single element (e.g. a laser scanner) then all the range readings originate at a single point and only the sensor's global pose matters. If the sensor is made up of multiple elements (e.g. an array of sonar sensors) then the element_poses array should contain one pose per sensor, and the range readings each originate from one pose, in the same order. To determine how to interpret the ranges and intensities arrays, check if elements_poses_count is 1 or more.</p>
<h2><a class="anchor" id="properties"></a>
Recommended Properties</h2>
<p>The following properties are recommended to be provided by drivers supporting this interface, depending on device type.</p>
<h3><a class="anchor" id="laserprops"></a>
Laser scanner devices</h3>
<p>(string) type: Type of device. For human debugging rather than client usage.</p>
<h3><a class="anchor" id="sonarprops"></a>
Sonar array devices</h3>
<p>(string) type: Type of device. For human debugging rather than client usage.</p>
<h3><a class="anchor" id="irprops"></a>
IR array devices</h3>
<p>(string) type: Type of device. For human debugging rather than client usage. </p>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="ga8e26667a10a226e61e76dab959bcc8f2"></a><!-- doxytag: member="player_interfaces.h::player_ranger_config_t" ref="ga8e26667a10a226e61e76dab959bcc8f2" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__ranger__config.html">player_ranger_config</a>  <a class="el" href="structplayer__ranger__config.html">player_ranger_config_t</a></td>
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<div class="memdoc">

<p><a class="el" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a> configuration request (<a class="el" href="group__interface__ranger.html#ga2fd1bb9cd76155772e3a2fe0ff319af1">PLAYER_RANGER_REQ_GET_CONFIG</a>). </p>
<p>Request and change the device's configuration. </p>

</div>
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<a class="anchor" id="ga0880ad473f4ab2f15b2809c0a256f58a"></a><!-- doxytag: member="player_interfaces.h::player_ranger_data_intns_t" ref="ga0880ad473f4ab2f15b2809c0a256f58a" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__ranger__data__intns.html">player_ranger_data_intns</a>  <a class="el" href="structplayer__ranger__data__intns.html">player_ranger_data_intns_t</a></td>
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<div class="memdoc">

<p>Data: intensity scan (<a class="el" href="group__interface__ranger.html#gaff20169a029406b0cea50fc2a77d4a81">PLAYER_RANGER_DATA_INTNS</a>). </p>
<p>A set of intensity readings. </p>

</div>
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<a class="anchor" id="gad5c15966517400aa4abd2ddc0284798a"></a><!-- doxytag: member="player_interfaces.h::player_ranger_data_intnsstamped_t" ref="gad5c15966517400aa4abd2ddc0284798a" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__ranger__data__intnsstamped.html">player_ranger_data_intnsstamped</a>  <a class="el" href="structplayer__ranger__data__intnsstamped.html">player_ranger_data_intnsstamped_t</a></td>
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<p>Data: Stamped intensity scan (<a class="el" href="group__interface__ranger.html#gaeaba6f924b0c99292712eb6e1561d0a5">PLAYER_RANGER_DATA_INTNSSTAMPED</a>). </p>
<p>An intensity scan with optionally the (possibly estimated) geometry of the device when the scan was acquired an optional sensor configuration. </p>

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<a class="anchor" id="ga9542c5b33024f0c0c9dfe24dce2ffe06"></a><!-- doxytag: member="player_interfaces.h::player_ranger_data_range_t" ref="ga9542c5b33024f0c0c9dfe24dce2ffe06" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__ranger__data__range.html">player_ranger_data_range</a>  <a class="el" href="structplayer__ranger__data__range.html">player_ranger_data_range_t</a></td>
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<div class="memdoc">

<p>Data: range scan (<a class="el" href="group__interface__ranger.html#ga68dc6d3bc715017657822a0837f111e0">PLAYER_RANGER_DATA_RANGE</a>). </p>
<p>The basic ranger scan data packet, containing a set of range readings. </p>

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          <td class="memname">typedef struct <a class="el" href="structplayer__ranger__data__rangestamped.html">player_ranger_data_rangestamped</a>  <a class="el" href="structplayer__ranger__data__rangestamped.html">player_ranger_data_rangestamped_t</a></td>
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<p>Data: Stamped range scan (<a class="el" href="group__interface__ranger.html#ga5ab518c54fa9d9e58bbd7eceef7d79e4">PLAYER_RANGER_DATA_RANGESTAMPED</a>). </p>
<p>A range scan optionally with the (possibly estimated) geometry of the device when the scan was acquired and optional sensor configuration. </p>

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<a class="anchor" id="ga4b4a64ba285a69796aee164c9a7c08f8"></a><!-- doxytag: member="player_interfaces.h::player_ranger_geom_t" ref="ga4b4a64ba285a69796aee164c9a7c08f8" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__ranger__geom.html">player_ranger_geom</a>  <a class="el" href="structplayer__ranger__geom.html">player_ranger_geom_t</a></td>
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<p>Data and Request/reply: Get geometry. </p>
<p>(<a class="el" href="group__interface__ranger.html#gaaccba801fcbc594f8abcf702d39301ad">PLAYER_RANGER_REQ_GET_GEOM</a>)</p>
<p>The ranger device position, orientation and size. </p>

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<a class="anchor" id="ga40a437877a63cb31ae42dd38fdfbe198"></a><!-- doxytag: member="player_interfaces.h::player_ranger_intns_config_t" ref="ga40a437877a63cb31ae42dd38fdfbe198" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__ranger__intns__config.html">player_ranger_intns_config</a>  <a class="el" href="structplayer__ranger__intns__config.html">player_ranger_intns_config_t</a></td>
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<p>Request/reply: Turn intensity data on/off for devices that provide it (<a class="el" href="group__interface__ranger.html#ga4493749ffaff0c286c00c4a3b2e04816">PLAYER_RANGER_REQ_INTNS</a>). </p>
<p>If the device is capable of providing intensity information (such as laser reflection intensity or IR voltage), this will enable the transmission of the data in the <a class="el" href="group__interface__ranger.html#gaff20169a029406b0cea50fc2a77d4a81">PLAYER_RANGER_DATA_INTNS</a> data message. </p>

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<a class="anchor" id="ga23dec250853cec33461dc9b19b761f53"></a><!-- doxytag: member="player_interfaces.h::player_ranger_power_config_t" ref="ga23dec250853cec33461dc9b19b761f53" args="" -->
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          <td class="memname">typedef struct <a class="el" href="structplayer__ranger__power__config.html">player_ranger_power_config</a>  <a class="el" href="structplayer__ranger__power__config.html">player_ranger_power_config_t</a></td>
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<p>Request/reply: Turn power on/off (<a class="el" href="group__interface__ranger.html#ga675503fda5dce30618e786370a6359f1">PLAYER_RANGER_REQ_POWER</a>). </p>
<p>If the device supports it, use this message to turn the power on or off. </p>

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Last updated 12 September 2005 21:38:45
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