Users Manual

Fig. 8.2.4: Filling in the arguments of the set
_
pose service request
8.3 The rc_dynamics interface
The rc_dynamics interface offers continuous, real-time data-stream access to rc_visard’s several dynamic state
estimates (Section 6.3.2) as continuous, real-time data streams. It allows state estimates of all offered types to be
configured to be streamed to any host in the network. The Data-stream protocol (Section 8.3.3) used is agnostic
vis-à-vis operating system and programming language.
8.3.1 Starting/stopping dynamic-state estimation
The rc_visard’s dynamic-state estimates are only available if the respective component, i.e., the sensor dynamics
component (Section 6.3), is turned on. This can be done either in the Web GUI - a respective switch is offered in
the Dynamics tab - or via the REST-API by using the component’s service calls. A sample curl request to start
dynamic-state estimation would look like:
curl -X PUT --header 'Content-Type: application/json' -d '{}' 'http://<rcvisard>/api/v1/nodes/rc
_
˓→dynamics/services/start'
Note: To save computational resources, it is recommended to stop dynamic-state estimation when not needed
any longer.
8.3.2 Configuring data streams
Availabe data streams, i.e., dynamic-state estimates, can be listed and configured by the rc_visard’s REST-
API (Section 8.2.2), e.g., a list of all available data streams can be requested with GET /datastreams. For a
detailed description of the following data streams, please refer to Available state estimates (Section 6.3.2).
8.3. The rc_dynamics interface 161