x and y velocities indicate velocities in the X and Y directions of the robots coordinate frame. For most robots the Y velocity tends to be zero. pa is the 'angle', basically reports the rate of heading change in the local coordinate frame (actually that one is the same in the global frame I guess). .pa has been replaced by .pyaw in the upcoming player 2.1.

Toby

On 20/09/2007, Ricardo Tellez <tellezatwork@gmail.com> wrote:
Hi,
Can anyone explain how the  the 'x' and 'y' velocity fields of player_position2d_data_t work?. Do they indicate the (x,y)  velocity vector?. Or 'x' indicate the velocity applied to the left wheel and 'y' the velocity for the right wheel?. What about 'pa'?.

example:
player_position2d_data_t posdata;
memset (&posdata,0,sizeof(posdata));

posdata.vel.px = 0.4;
posdata.vel.py = 0.5;
posdata.vel.pa=0.03;


Thanks
Ricardo

-------------------------------------------------------------------------
This SF.net email is sponsored by: Microsoft
Defy all challenges. Microsoft(R) Visual Studio 2005.
http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
_______________________________________________
Playerstage-users mailing list
Playerstage-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/playerstage-users




--
This email is intended for the addressee only and may contain privileged and/or confidential information