59 #include "libplayerc/playerc.h"
60 #include "libplayerc++/utility.h"
61 #include "libplayerc++/playerclient.h"
62 #include "libplayerc++/playererror.h"
63 #include "libplayerc++/clientproxy.h"
64 #include "libplayerinterface/interface_util.h"
67 #if defined (PLAYER_STATIC)
68 #define PLAYERCC_EXPORT
69 #elif defined (playerc___EXPORTS)
70 #define PLAYERCC_EXPORT __declspec (dllexport)
72 #define PLAYERCC_EXPORT __declspec (dllimport)
75 #define PLAYERCC_EXPORT
145 void Subscribe(uint32_t aIndex);
160 void RequestGeometry(
void);
163 void SetPowerConfig(
bool aVal);
165 void SetBrakesConfig(
bool aVal);
167 void SetSpeedConfig(uint32_t aJoint,
float aSpeed);
170 void MoveTo(uint32_t aJoint,
float aPos);
172 void MoveToMulti(std::vector<float> aPos);
174 void MoveAtSpeed(uint32_t aJoint,
float aSpeed);
176 void MoveAtSpeedMulti(std::vector<float> aSpeed);
178 void MoveHome(
int aJoint);
180 void SetActuatorCurrent(uint32_t aJoint,
float aCurrent);
182 void SetActuatorCurrentMulti(std::vector<float> aCurrent);
185 uint32_t
GetCount(
void)
const {
return GetVar(mDevice->actuators_count); }
201 {
return(GetActuatorData(aJoint)); }
211 void Subscribe(uint32_t aIndex);
223 uint32_t
GetCount()
const {
return(GetVar(mDevice->voltages_count)); };
226 double GetVoltage(uint32_t aIndex)
const
227 {
return(GetVar(mDevice->voltages[aIndex])); };
230 void SetVoltage(uint32_t aIndex,
double aVoltage);
236 double operator [](uint32_t aIndex)
const
237 {
return GetVoltage(aIndex); }
250 void Subscribe(uint32_t aIndex);
276 void GetWavData(uint8_t* aData)
const
278 return GetVarByRef(mDevice->wav_data.data,
279 mDevice->wav_data.data+GetWavDataLength(),
284 uint32_t
GetSeqCount()
const {
return(GetVar(mDevice->seq_data.tones_count));};
289 uint32_t
GetChannelCount()
const {
return(GetVar(mDevice->mixer_data.channels_count));};
293 uint32_t
GetState(
void)
const {
return(GetVar(mDevice->state));};
298 void PlayWav(uint32_t aDataCount, uint8_t *aData, uint32_t aFormat);
301 void SetWavStremRec(
bool aState);
304 void PlaySample(
int aIndex);
313 void SetMixerLevel(uint32_t index,
float amplitude, uint8_t active);
320 void LoadSample(
int aIndex, uint32_t aDataCount, uint8_t *aData, uint32_t aFormat);
324 void GetSample(
int aIndex);
327 void RecordSample(
int aIndex, uint32_t aLength);
331 void GetMixerLevels();
335 void GetMixerDetails();
349 void Subscribe(uint32_t aIndex);
363 void UnsubscribeFromKey(
const char *key,
const char* group =
"");
365 void SubscribeToGroup(
const char* key);
367 void UnsubscribeFromGroup(
const char* group);
423 void Subscribe(uint32_t aIndex);
436 uint32_t
GetCount()
const {
return GetVar(mDevice->blobs_count); };
439 {
return GetVar(mDevice->blobs[aIndex]);};
442 uint32_t
GetWidth()
const {
return GetVar(mDevice->width); };
444 uint32_t
GetHeight()
const {
return GetVar(mDevice->height); };
451 {
return(GetBlob(aIndex)); }
475 void Subscribe(uint32_t aIndex);
486 uint32_t GetCount()
const {
return GetVar(mDevice->bumper_count); };
489 uint32_t IsBumped(uint32_t aIndex)
const
490 {
return GetVar(mDevice->bumpers[aIndex]); };
496 void RequestBumperConfig();
503 {
return GetVar(mDevice->poses[aIndex]); };
509 bool operator [](uint32_t aIndex)
const
510 {
return IsBumped(aIndex) != 0 ?
true :
false; }
522 virtual void Subscribe(uint32_t aIndex);
523 virtual void Unsubscribe();
541 void SaveFrame(
const std::string aPrefix, uint32_t aWidth=4);
547 uint32_t
GetDepth()
const {
return GetVar(mDevice->bpp); };
550 uint32_t
GetWidth()
const {
return GetVar(mDevice->width); };
553 uint32_t
GetHeight()
const {
return GetVar(mDevice->height); };
561 uint32_t
GetFormat()
const {
return GetVar(mDevice->format); };
564 uint32_t
GetImageSize()
const {
return GetVar(mDevice->image_count); };
570 void GetImage(uint8_t* aImage)
const
572 return GetVarByRef(mDevice->image,
573 mDevice->image+GetVar(mDevice->image_count),
594 void Subscribe(uint32_t aIndex);
607 uint32_t
GetCount()
const {
return GetVar(mDevice->count); };
610 uint32_t
GetDigin()
const {
return GetVar(mDevice->digin); };
613 bool GetInput(uint32_t aIndex)
const;
616 void SetOutput(uint32_t aCount, uint32_t aDigout);
622 uint32_t operator [](uint32_t aIndex)
const
623 {
return GetInput(aIndex); }
634 void Subscribe(uint32_t aIndex);
647 uint32_t
GetCount()
const {
return GetVar(mDevice->fiducials_count); };
651 {
return GetVar(mDevice->fiducials[aIndex]);};
655 {
return GetVar(mDevice->fiducial_geom.pose);};
659 {
return GetVar(mDevice->fiducial_geom.size);};
663 {
return GetVar(mDevice->fiducial_geom.fiducial_size);};
666 void RequestGeometry();
673 {
return GetFiducialItem(aIndex); }
684 void Subscribe(uint32_t aIndex);
699 double GetLongitude()
const {
return GetVar(mDevice->lon); };
708 uint32_t
GetQuality()
const {
return GetVar(mDevice->quality); };
711 double GetHdop()
const {
return GetVar(mDevice->hdop); };
714 double GetVdop()
const {
return GetVar(mDevice->vdop); };
718 double GetUtmNorthing()
const {
return GetVar(mDevice->utm_n); };
721 double GetTime()
const {
return GetVar(mDevice->utc_time); };
725 double GetErrVertical()
const {
return GetVar(mDevice->err_vert); };
741 void Subscribe(uint32_t aIndex);
758 void Color(uint8_t red, uint8_t green, uint8_t blue, uint8_t alpha);
787 void Subscribe(uint32_t aIndex);
804 void Color(uint8_t red, uint8_t green, uint8_t blue, uint8_t alpha);
823 void Subscribe(uint32_t aIndex);
838 void RequestGeometry(
void);
841 uint32_t
GetState()
const {
return GetVar(mDevice->state); };
843 uint32_t
GetBeams()
const {
return GetVar(mDevice->beams); };
851 uint32_t
GetNumBeams()
const {
return GetVar(mDevice->num_beams); };
853 uint32_t
GetCapacity()
const {
return GetVar(mDevice->capacity); };
855 uint32_t
GetStored()
const {
return GetVar(mDevice->stored); };
876 void Subscribe(uint32_t aIndex);
892 float GetSystemCPU();
898 int64_t GetMemTotal();
901 int64_t GetMemUsed();
904 int64_t GetMemFree();
907 int64_t GetSwapTotal();
910 int64_t GetSwapUsed();
913 int64_t GetSwapFree();
916 float GetPercMemUsed();
919 float GetPercSwapUsed();
922 float GetPercTotalUsed();
934 void Subscribe(uint32_t aIndex);
961 {
return GetVar(mDevice->calib_data); };
964 void SetDatatype(
int aDatatype);
967 void ResetOrientation(
int aValue);
982 void Subscribe(uint32_t aIndex);
996 uint32_t
GetCount()
const {
return GetVar(mDevice->data.ranges_count); };
998 double GetRange(uint32_t aIndex)
const
999 {
return GetVar(mDevice->data.ranges[aIndex]); };
1001 double GetVoltage(uint32_t aIndex)
const
1002 {
return GetVar(mDevice->data.voltages[aIndex]); };
1004 uint32_t
GetPoseCount()
const {
return GetVar(mDevice->poses.poses_count); };
1007 {
return GetVar(mDevice->poses.poses[aIndex]);};
1016 double operator [](uint32_t aIndex)
const
1017 {
return GetRange(aIndex); }
1030 void Subscribe(uint32_t aIndex);
1037 double min_angle, max_angle, scan_res, range_res, scanning_frequency;
1048 uint32_t
GetCount()
const {
return GetVar(mDevice->scan_count); };
1065 double GetMaxAngle()
const
1068 return mDevice->scan_start + (mDevice->scan_count - 1)*mDevice->scan_res;
1077 bool IntensityOn()
const {
return GetVar(mDevice->intensity_on) != 0 ?
true :
false; };
1085 {
return GetVar(mDevice->point[aIndex]); };
1089 double GetRange(uint32_t aIndex)
const
1090 {
return GetVar(mDevice->ranges[aIndex]); };
1093 double GetBearing(uint32_t aIndex)
const
1094 {
return GetVar(mDevice->scan[aIndex][1]); };
1098 int GetIntensity(uint32_t aIndex)
const
1099 {
return GetVar(mDevice->intensity[aIndex]); };
1103 {
return GetVar(mDevice->laser_id); };
1114 void Configure(
double aMinAngle,
1119 double aScanningFrequency);
1123 void RequestConfigure();
1139 p.
px = mDevice->pose[0];
1140 p.
py = mDevice->pose[1];
1141 p.
pyaw = mDevice->pose[2];
1152 p.
px = mDevice->robot_pose[0];
1153 p.
py = mDevice->robot_pose[1];
1154 p.
pyaw = mDevice->robot_pose[2];
1164 b.
sl = mDevice->size[0];
1165 b.
sw = mDevice->size[1];
1170 double GetMinLeft()
const
1171 {
return GetVar(mDevice->min_left); };
1174 double GetMinRight()
const
1175 {
return GetVar(mDevice->min_right); };
1178 double MinLeft ()
const
1179 {
return GetMinLeft(); }
1182 double MinRight ()
const
1183 {
return GetMinRight(); }
1189 double operator [] (uint32_t index)
const
1190 {
return GetRange(index);}
1203 void Subscribe(uint32_t aIndex);
1216 void RequestGeometry(
void);
1219 void SetPowerConfig(
bool aVal);
1221 void SetBrakesConfig(
bool aVal);
1223 void SetSpeedConfig(
float aSpeed);
1226 void MoveHome(
void);
1230 void SetPose(
float aPX,
float aPY,
float aPZ,
1231 float aAX,
float aAY,
float aAZ,
1232 float aOX,
float aOY,
float aOZ);
1234 void SetPosition(
float aX,
float aY,
float aZ);
1237 void VectorMove(
float aX,
float aY,
float aZ,
float aLength);
1255 void Subscribe(uint32_t aIndex);
1268 uint32_t
GetButtons()
const {
return GetVar(mDevice->buttons); };
1271 double GetAxes(uint32_t aIndex)
const
1272 {
if (GetVar(mDevice->axes_count) <= (int32_t)aIndex)
return -1.0;
return GetVar(mDevice->pos[aIndex]); };
1275 double operator [] (uint32_t aIndex)
const {
return GetAxes(aIndex); }
1306 void Subscribe(uint32_t aIndex);
1322 uint32_t GetMapSizeY()
const {
return GetVar(mDevice->map_size_y); };
1325 uint32_t GetMapTileX()
const {
return GetVar(mDevice->map_tile_x); };
1326 uint32_t GetMapTileY()
const {
return GetVar(mDevice->map_tile_y); };
1348 {
return GetVar(mDevice->hypoths[aIndex]); };
1358 void SetPose(
double pose[3],
double cov[3]);
1376 void Subscribe(uint32_t aIndex);
1391 int GetType()
const {
return GetVar(mDevice->type); };
1394 int GetState()
const {
return GetVar(mDevice->state); };
1401 void SetState(
int aState);
1404 void SetWriteState(
int aState);
1407 void SetReadState(
int aState);
1413 void SetFilename(
const std::string aFilename);
1423 void Subscribe(uint32_t aIndex);
1440 int GetCellIndex(
int x,
int y)
const
1441 {
return y*GetWidth() + x; };
1444 int8_t GetCell(
int x,
int y)
const
1445 {
return GetVar(mDevice->cells[GetCellIndex(x,y)]); };
1452 uint32_t
GetWidth()
const {
return GetVar(mDevice->width); };
1455 uint32_t
GetHeight()
const {
return GetVar(mDevice->height); };
1457 double GetOriginX()
const {
return GetVar(mDevice->origin[0]); };
1458 double GetOriginY()
const {
return GetVar(mDevice->origin[1]); };
1461 void GetMap(int8_t* aMap)
const
1463 return GetVarByRef(reinterpret_cast<int8_t*>(mDevice->cells),
1464 reinterpret_cast<int8_t*>(mDevice->cells+GetWidth()*GetHeight()),
1479 void Subscribe(uint32_t aIndex);
1493 uint32_t
GetCount()
const {
return GetVar(mDevice->data_count); };
1496 void GetData(uint8_t* aDest)
const
1498 return GetVarByRef(mDevice->data,
1499 mDevice->data+GetVar(mDevice->data_count),
1519 void Subscribe(uint32_t aIndex);
1533 void SetGoalPose(
double aGx,
double aGy,
double aGa);
1537 void RequestWaypoints();
1541 void SetEnable(
bool aEnable);
1551 double GetPx()
const {
return GetVar(mDevice->px); };
1554 double GetPy()
const {
return GetVar(mDevice->py); };
1557 double GetPa()
const {
return GetVar(mDevice->pa); };
1572 double GetGx()
const {
return GetVar(mDevice->gx); };
1575 double GetGy()
const {
return GetVar(mDevice->gy); };
1578 double GetGa()
const {
return GetVar(mDevice->ga); };
1593 double GetWx()
const {
return GetVar(mDevice->wx); };
1596 double GetWy()
const {
return GetVar(mDevice->wy); };
1599 double GetWa()
const {
return GetVar(mDevice->wa); };
1614 double GetIx(
int i)
const;
1617 double GetIy(
int i)
const;
1620 double GetIa(
int i)
const;
1625 assert(aIndex < GetWaypointCount());
1628 p.
px = mDevice->waypoints[aIndex][0];
1629 p.
py = mDevice->waypoints[aIndex][1];
1630 p.
pa = mDevice->waypoints[aIndex][2];
1637 int GetCurrentWaypointId()
const
1638 {
return GetVar(mDevice->curr_waypoint); };
1641 uint32_t GetWaypointCount()
const
1642 {
return GetVar(mDevice->waypoint_count); };
1649 {
return GetWaypoint(aIndex); }
1660 void Subscribe(uint32_t aIndex);
1674 uint32_t
GetCount()
const {
return GetVar(mDevice->points_count); };
1678 {
return GetVar(mDevice->points[aIndex]); };
1696 void Subscribe(uint32_t aIndex);
1712 void SetSpeed(
double aVel);
1717 void GoTo(
double aPos,
double aVel);
1728 p.
px = mDevice->pose[0];
1729 p.
py = mDevice->pose[1];
1730 p.
pyaw = mDevice->pose[2];
1739 b.
sl = mDevice->size[0];
1740 b.
sw = mDevice->size[1];
1748 void SetMotorEnable(
bool enable);
1752 void SetOdometry(
double aPos);
1768 double GetPos()
const {
return GetVar(mDevice->pos); };
1771 double GetVel()
const {
return GetVar(mDevice->vel); };
1774 bool GetStall()
const {
return GetVar(mDevice->stall) != 0 ?
true :
false; };
1777 uint8_t
GetStatus()
const {
return GetVar(mDevice->status); };
1780 bool IsLimitMin()
const
1781 {
return (GetVar(mDevice->status) &
1785 bool IsLimitCen()
const
1786 {
return (GetVar(mDevice->status) &
1790 bool IsLimitMax()
const
1791 {
return (GetVar(mDevice->status) &
1795 bool IsOverCurrent()
const
1796 {
return (GetVar(mDevice->status) &
1800 bool IsTrajComplete()
const
1801 {
return (GetVar(mDevice->status) &
1805 bool IsEnabled()
const
1806 {
return (GetVar(mDevice->status) &
1820 void Subscribe(uint32_t aIndex);
1836 void SetSpeed(
double aXSpeed,
double aYSpeed,
double aYawSpeed);
1840 void SetSpeed(
double aXSpeed,
double aYawSpeed)
1841 {
return SetSpeed(aXSpeed, 0, aYawSpeed);}
1850 void SetVelHead(
double aXSpeed,
double aYSpeed,
double aYawHead);
1854 void SetVelHead(
double aXSpeed,
double aYawHead)
1869 void GoTo(
double aX,
double aY,
double aYaw)
1873 void SetCarlike(
double aXSpeed,
double aDriveAngle);
1885 p.
px = mDevice->pose[0];
1886 p.
py = mDevice->pose[1];
1887 p.
pyaw = mDevice->pose[2];
1896 b.
sl = mDevice->size[0];
1897 b.
sw = mDevice->size[1];
1905 void SetMotorEnable(
bool enable);
1918 void ResetOdometry();
1926 void SetOdometry(
double aX,
double aY,
double aYaw);
1954 double GetXPos()
const {
return GetVar(mDevice->px); };
1957 double GetYPos()
const {
return GetVar(mDevice->py); };
1960 double GetYaw()
const {
return GetVar(mDevice->pa); };
1972 bool GetStall()
const {
return GetVar(mDevice->stall) != 0 ?
true :
false; };
1987 void Subscribe(uint32_t aIndex);
2003 void SetSpeed(
double aXSpeed,
double aYSpeed,
double aZSpeed,
2004 double aRollSpeed,
double aPitchSpeed,
double aYawSpeed);
2009 void SetSpeed(
double aXSpeed,
double aYSpeed,
2010 double aZSpeed,
double aYawSpeed)
2011 {
SetSpeed(aXSpeed,aYSpeed,aZSpeed,0,0,aYawSpeed); }
2014 void SetSpeed(
double aXSpeed,
double aYSpeed,
double aYawSpeed)
2015 {
SetSpeed(aXSpeed, aYSpeed, 0, 0, 0, aYawSpeed); }
2019 void SetSpeed(
double aXSpeed,
double aYawSpeed)
2020 {
SetSpeed(aXSpeed,0,0,0,0,aYawSpeed);}
2038 void GoTo(
double aX,
double aY,
double aZ,
2039 double aRoll,
double aPitch,
double aYaw)
2049 void SetMotorEnable(
bool aEnable);
2053 void SelectVelocityControl(
int aMode);
2056 void ResetOdometry();
2061 void SetOdometry(
double aX,
double aY,
double aZ,
2062 double aRoll,
double aPitch,
double aYaw);
2083 double GetXPos()
const {
return GetVar(mDevice->pos_x); };
2086 double GetYPos()
const {
return GetVar(mDevice->pos_y); };
2089 double GetZPos()
const {
return GetVar(mDevice->pos_z); };
2092 double GetRoll()
const {
return GetVar(mDevice->pos_roll); };
2095 double GetPitch()
const {
return GetVar(mDevice->pos_pitch); };
2098 double GetYaw()
const {
return GetVar(mDevice->pos_yaw); };
2101 double GetXSpeed()
const {
return GetVar(mDevice->vel_x); };
2104 double GetYSpeed()
const {
return GetVar(mDevice->vel_y); };
2107 double GetZSpeed()
const {
return GetVar(mDevice->vel_z); };
2119 bool GetStall ()
const {
return GetVar(mDevice->stall) != 0 ?
true :
false; };
2127 void Subscribe(uint32_t aIndex);
2140 double GetCharge()
const {
return GetVar(mDevice->charge); };
2146 double GetJoules()
const {
return GetVar(mDevice->joules); };
2149 double GetWatts()
const {
return GetVar(mDevice->watts); };
2152 bool GetCharging()
const {
return GetVar(mDevice->charging) != 0 ?
true :
false;};
2155 bool IsValid()
const {
return GetVar(mDevice->valid) != 0 ?
true :
false;};
2169 void Subscribe(uint32_t aIndex);
2186 void SetCam(
double aPan,
double aTilt,
double aZoom);
2189 void SetSpeed(
double aPanSpeed=0,
double aTiltSpeed=0,
double aZoomSpeed=0);
2193 void SelectControlMode(uint32_t aMode);
2196 double GetPan()
const {
return GetVar(mDevice->pan); };
2198 double GetTilt()
const {
return GetVar(mDevice->tilt); };
2200 double GetZoom()
const {
return GetVar(mDevice->zoom); };
2214 void Subscribe(uint32_t aIndex);
2242 double GetRange(uint32_t aIndex)
const;
2244 double operator[] (uint32_t aIndex)
const {
return GetRange(aIndex); }
2249 double GetIntensity(uint32_t aIndex)
const;
2253 void SetPower(
bool aEnable);
2257 void SetIntensityData(
bool aEnable);
2266 void Configure(
double aMinAngle,
2276 void RequestConfigure();
2307 void Subscribe(uint32_t aIndex);
2323 {
return GetVar(mDevice->tags[aIndex]);};
2330 {
return(GetRFIDTag(aIndex)); }
2341 void Subscribe(uint32_t aIndex);
2355 void SetPose2d(
char* identifier,
double x,
double y,
double a);
2359 void GetPose2d(
char* identifier,
double& x,
double& y,
double& a);
2363 void SetPose3d(
char* identifier,
double x,
double y,
double z,
2364 double roll,
double pitch,
double yaw);
2368 void GetPose3d(
char* identifier,
double& x,
double& y,
double& z,
2369 double& roll,
double& pitch,
double& yaw,
double& time);
2372 void GetProperty(
char* identifier,
char *name,
void *value,
size_t value_len );
2375 void SetProperty(
char* identifier,
char *name,
void *value,
size_t value_len );
2388 void Subscribe(uint32_t aIndex);
2401 uint32_t
GetCount()
const {
return GetVar(mDevice->scan_count); };
2404 double GetScan(uint32_t aIndex)
const
2405 {
if (GetVar(mDevice->scan_count) <= (int32_t)aIndex)
return -1.0;
return GetVar(mDevice->scan[aIndex]); };
2408 double operator [] (uint32_t aIndex)
const {
return GetScan(aIndex); }
2415 {
return GetVar(mDevice->poses[aIndex]); };
2437 void Subscribe(uint32_t aIndex);
2451 void Say(std::string aStr);
2459 void Subscribe(uint32_t aIndex);
2471 return std::string(mDevice->words[aWord]);
2475 uint32_t
GetCount(
void)
const {
return GetVar(mDevice->wordCount); }
2479 std::string operator [](uint32_t aWord) {
return(GetWord(aWord)); }
2491 void Subscribe(uint32_t aIndex);
2498 bool map_info_cached;
2506 void GetLayerData(
unsigned layer_index);
2508 int GetLayerCount()
const;
2509 std::vector<std::string> GetLayerNames()
const;
2510 int GetFeatureCount(
unsigned layer_index)
const;
2511 const uint8_t * GetFeatureData(
unsigned layer_index,
unsigned feature_index)
const;
2512 size_t GetFeatureDataCount(
unsigned layer_index,
unsigned feature_index)
const;
2522 void Subscribe(uint32_t aIndex);
2536 int GetLinkCount()
const {
return mDevice->link_count; };
2537 char* GetOwnIP()
const {
return mDevice->ip; };
2539 char* GetLinkIP(
int index)
const {
return (
char*) mDevice->links[index].ip; };
2540 char* GetLinkMAC(
int index)
const {
return (
char*) mDevice->links[index].mac; };
2541 char* GetLinkESSID(
int index)
const {
return (
char*)mDevice->links[index].essid; };
2542 double GetLinkFreq(
int index)
const {
return mDevice->links[index].freq;};
2543 int GetLinkMode(
int index)
const {
return mDevice->links[index].mode; };
2544 int GetLinkEncrypt(
int index)
const {
return mDevice->links[index].encrypt; };
2545 int GetLinkQuality(
int index)
const {
return mDevice->links[index].qual; };
2546 int GetLinkLevel(
int index)
const {
return mDevice->links[index].level; };
2547 int GetLinkNoise(
int index)
const {
return mDevice->links[index].noise; } ;
2590 void Subscribe(uint32_t aIndex);
2602 uint32_t GetNodeType ()
const {
return GetVar(mDevice->node_type); };
2603 uint32_t GetNodeID ()
const {
return GetVar(mDevice->node_id); };
2604 uint32_t GetNodeParentID()
const {
return GetVar(mDevice->node_parent_id); };
2607 GetNodeDataPacket()
const {
return GetVar(mDevice->data_packet); };
2609 void SetDevState(
int nodeID,
int groupID,
int devNr,
int value);
2610 void Power(
int nodeID,
int groupID,
int value);
2611 void DataType(
int value);
2612 void DataFreq(
int nodeID,
int groupID,
float frequency);
2620 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const player_point_2d_t& c);
2621 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const player_pose2d_t& c);
2622 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const player_pose3d_t& c);
2623 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const player_bbox2d_t& c);
2624 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const player_bbox3d_t& c);
2625 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const player_segment_t& c);
2626 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const player_extent2d_t& c);
2631 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::AioProxy& c);
2637 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::DioProxy& c);
2639 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::GpsProxy& c);
2641 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::ImuProxy& c);
2642 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::IrProxy& c);
2644 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::LimbProxy& c);
2647 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::LogProxy& c);
2648 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::MapProxy& c);
2655 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::PtzProxy& c);
2663 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::WiFiProxy& c);
2664 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::RFIDProxy& c);
2665 PLAYERCC_EXPORT std::ostream& operator << (std::ostream& os,
const PlayerCc::WSNProxy& c);