[Playerstage-users] Fiducial (rfid simulation) + go_to_beacon algorithm

[asdasdasd a. <nic...@ya...>]

Hi.
I'm trying to simulate a simple rfid task. I want to navigate my robot to a beacon. I didn't find out how can i use the rfid proxy of player (it's unsupported by the stage?...) so i'm using beacons and a fiducial reader instead. 
So far, I can only get the Id of the beacon when i'm close enough. But how can i navigate my robot toward the beacon? I need a variable from the reader... but the manual didn't help me. Here's what the manual says:


 FiducialProxy (PlayerClient *aPc, uint aIndex=0)

 constructor 


 ~FiducialProxy ()

 destructor 


uint GetCount () const 

 The number of beacons detected. 


player_fiducial_item_t GetFiducialItem (uint aIndex) const 

 Get detected beacon description. 


player_pose_t GetSensorPose () const 

 The pose of the sensor. 


player_bbox_t GetSensorSize () const 

 The size of the sensor. 


player_bbox_t GetFiducialSize () const 

 The size of the most recently detected fiducial. 


void RequestGeometry ()

 Get the sensor's geometry configuration. 

player_fiducial_item_t operator[] (uint aIndex) const 

 FiducialProxy data access operator.  
Thanks
Nick



      
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