Provides an abstract interface for the GlobalWaypointDriver service. More...

#include <GlobalWaypointDriverInterface.h>

Inherited by openjaus::mobility::GlobalWaypointDriver.

Public Member Functions
virtual	~GlobalWaypointDriverInterface ()
virtual ReportGlobalWaypoint	getReportGlobalWaypoint (QueryGlobalWaypoint *queryGlobalWaypoint)=0
	Send action for ReportGlobalWaypoint with input message QueryGlobalWaypoint.
virtual ReportTravelSpeed	getReportTravelSpeed (QueryTravelSpeed *queryTravelSpeed)=0
	Send action for ReportTravelSpeed with input message QueryTravelSpeed.
virtual bool	setGwdTravelSpeed (SetTravelSpeed *setTravelSpeed)=0
	SetGwdTravelSpeed action with input SetTravelSpeed.
virtual bool	setGlobalWaypoint (SetGlobalWaypoint *setGlobalWaypoint)=0
	SetGlobalWaypoint action with input SetGlobalWaypoint.
virtual void	resetGwdTravelSpeed ()=0
virtual bool	waypointExists (QueryGlobalWaypoint *queryGlobalWaypoint)=0
	True if a valide waypoint has been received.
virtual bool	waypointExists (SetTravelSpeed *setTravelSpeed)=0
	True if a valide waypoint has been received.
virtual bool	waypointExists (SetGlobalWaypoint *setGlobalWaypoint)=0
	True if a valide waypoint has been received.
virtual bool	isControllingGwdClient (SetTravelSpeed *setTravelSpeed)=0
	isControllingGwdClient condition.

Detailed Description

The function of the Global Waypoint Driver is to move the platform given a single target waypoint, desired travel speed, current platform pose and current velocity state. A single waypoint is provided via the Set Global Waypoint message. The waypoint remains unchanged until a new Set Global Waypoint message is received. A waypoint consists of the desired position and orientation of the platform. The second input consists of the desired travel speed. The desired travel speed remains unchanged unless a new Set Travel Speed Message is received. The travel speed may then be changed at any time during waypoint navigation. The travel speed is reset to zero for all transitions from the Ready State.

URI: urn:jaus:jss:mobility:GlobalWaypointDriver

Version: 1.0

Inherits From:

urn:jaus:jss:core:Management

Constructor & Destructor Documentation

virtual openjaus::mobility::GlobalWaypointDriverInterface::~GlobalWaypointDriverInterface ( ) [inline, virtual]

Member Function Documentation

virtual ReportGlobalWaypoint openjaus::mobility::GlobalWaypointDriverInterface::getReportGlobalWaypoint ( QueryGlobalWaypoint * queryGlobalWaypoint ) [pure virtual]

Send action for ReportGlobalWaypoint with input message QueryGlobalWaypoint.

Parameters:

[in] queryGlobalWaypoint - Input Trigger.

Returns:: ReportGlobalWaypoint Output Message.

Implemented in openjaus::mobility::GlobalWaypointDriver.

virtual ReportTravelSpeed openjaus::mobility::GlobalWaypointDriverInterface::getReportTravelSpeed ( QueryTravelSpeed * queryTravelSpeed ) [pure virtual]