Sophie: player-doc-3.0.2-5.fc14 noarch

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

<!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&nbsp;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&nbsp;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>