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I am currently looking at adding support for the ir interface to the rflex driver
and I have a couple of queries with regard to the configuratino data structures.
according to the player documentation (and the source) the config structures are
struct player_ir_pose : gets the pose of the IR sensors on a robot
the number of ir samples returned by this robot
the pose of each IR detector on this robot (mm, mm, degrees)
struct player_ir_pose_req : ioctl struct for getting IR pose of a robot
subtype; must be PLAYER_IR_POSE_REQ
but this means you end up with PLAYER_IR_MAX_SAMPLES * PLAYER_IR_MAX_SAMPLES poses,
the square of the required number.
I would sugest that the struct player_ir_pose_req should only have a single poses
structure and not an array.
Am I missing something or is this some hang over from changes in earlier changes..
The problem with making this change is that it is an interface and so all drivers
and clients that use it would need modified, A had a quick flick through player
manual list of drivers and only the reb driver seems to support ir, so this shouldnt
be too major a change from a server point of view, no idea from a client point of
Let me know what you think on this issue, im happy to make the changes but want a
general consensus first (and particularly to see if there is a reason for the
current state that i dont know about)
University of Auckland Robotics Group
From: john sweeney <sweeney@cs...> - 2004-03-31 01:27:49
On Mar 30, 2004, at 7:41 PM, Toby Collett wrote:
> I would sugest that the struct player_ir_pose_req should only have a
> single poses
> structure and not an array.
> Am I missing something or is this some hang over from changes in
> earlier changes..
You're right, I believe this came about through some sort of rusting
process of the code. Go ahead and change it; we'll update our clients
From: Brian Gerkey <gerkey@ro...> - 2004-04-01 17:54:32
On Tue, 30 Mar 2004, john sweeney wrote:
> On Mar 30, 2004, at 7:41 PM, Toby Collett wrote:
> > I would sugest that the struct player_ir_pose_req should only have a
> > single poses
> > structure and not an array.
> > Am I missing something or is this some hang over from changes in
> > earlier changes..
> Toby -
> You're right, I believe this came about through some sort of rusting
> process of the code. Go ahead and change it; we'll update our clients
Agreed; thanks for spotting that, and please do make the interface change.
Presumably you'll also update whichever client lib you're using?
Brian P. Gerkey gerkey@...
Stanford Robotics Lab http://robotics.stanford.edu/~gerkey