openjaus::mobility::SetGlobalWaypoint Class Reference

SetGlobalWaypoint Message Implementation. More...

#include <SetGlobalWaypoint.h>

Inherits openjaus::model::Message.

List of all members.

Public Member Functions
	SetGlobalWaypoint ()
	SetGlobalWaypoint (model::Message *message)
	~SetGlobalWaypoint ()
virtual int	to (system::Buffer *dst)
	Pack this message to the given openjaus::system::Buffer.
virtual int	from (system::Buffer *src)
	Unpack this message from the given openjaus::system::Buffer.
virtual int	length ()
	Get the number of bytes this message would occupy in a serialized buffer.
std::string	toXml (unsigned char level=0) const
	Used to serialize the runtime state of the message to an XML format.
void	setPresenceVector (uint8_t value)
uint8_t	getPresenceVector (void) const
bool	isAltitudeEnabled (void) const
void	enableAltitude (void)
void	disableAltitude (void)
bool	isRollEnabled (void) const
void	enableRoll (void)
void	disableRoll (void)
bool	isPitchEnabled (void) const
void	enablePitch (void)
void	disablePitch (void)
bool	isYawEnabled (void) const
void	enableYaw (void)
void	disableYaw (void)
bool	isWaypointToleranceEnabled (void) const
void	enableWaypointTolerance (void)
void	disableWaypointTolerance (void)
bool	isPathToleranceEnabled (void) const
void	enablePathTolerance (void)
void	disablePathTolerance (void)
double	getLatitude_deg (void)
void	setLatitude_deg (double value)
double	getLongitude_deg (void)
void	setLongitude_deg (double value)
double	getAltitude_m (void)
void	setAltitude_m (double value)
double	getRoll_rad (void)
void	setRoll_rad (double value)
double	getPitch_rad (void)
void	setPitch_rad (double value)
double	getYaw_rad (void)
void	setYaw_rad (double value)
double	getWaypointTolerance_m (void)
void	setWaypointTolerance_m (double value)
double	getPathTolerance (void)
void	setPathTolerance (double value)
Static Public Attributes
static const uint16_t	ID = 0x040C
Private Types
enum	pvEnum {   ALTITUDE_M = 0, ROLL_RAD = 1, PITCH_RAD = 2, YAW_RAD = 3,   WAYPOINTTOLERANCE_M = 4, PATHTOLERANCE = 5 }
Private Attributes
JausLatitudeScaledInteger	latitude_deg
JausLongitudeScaledInteger	longitude_deg
JausAltitudeScaledInteger	altitude_m
OrientationScaledInteger	roll_rad
OrientationScaledInteger	pitch_rad
OrientationScaledInteger	yaw_rad
WaypointToleranceRefScaledInteger	waypointTolerance_m
PathToleranceRefScaledInteger	pathTolerance
uint8_t	presenceVector

---

Detailed Description

This message is used to set waypoint data based on the global coordinate system. A global waypoint can have up to six fields to describe it completely. The waypoint is defined in the global coordinate system using the latitude, longitude, and altitude, fields. The desired orientation of the platform at the waypoint is defined using the roll, pitch, and yaw fields. Only fields 1-3 (presence vector, latitude, and longitude) are required for each waypoint. Field #4 sets the desired Altitude in accordance with the WGS 84 standard. The presence vector is used to specify if the remaining fields, i.e., altitude, roll, pitch, and yaw, are used to further describe the waypoint and the desired orientation at that point.</

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Member Enumeration Documentation

enum openjaus::mobility::SetGlobalWaypoint::pvEnum [private]

Enumerator:

ALTITUDE_M
ROLL_RAD
PITCH_RAD
YAW_RAD
WAYPOINTTOLERANCE_M
PATHTOLERANCE

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Constructor & Destructor Documentation

openjaus::mobility::SetGlobalWaypoint::SetGlobalWaypoint

(

)

openjaus::mobility::SetGlobalWaypoint::SetGlobalWaypoint

(

model::Message *

message

)

openjaus::mobility::SetGlobalWaypoint::~SetGlobalWaypoint

(

)

---

Member Function Documentation

void openjaus::mobility::SetGlobalWaypoint::disableAltitude

(

void

)

void openjaus::mobility::SetGlobalWaypoint::disablePathTolerance

(

void

)

void openjaus::mobility::SetGlobalWaypoint::disablePitch

(

void

)

void openjaus::mobility::SetGlobalWaypoint::disableRoll

(

void

)

void openjaus::mobility::SetGlobalWaypoint::disableWaypointTolerance

(

void

)

void openjaus::mobility::SetGlobalWaypoint::disableYaw

(

void

)

void openjaus::mobility::SetGlobalWaypoint::enableAltitude

(

void

)

void openjaus::mobility::SetGlobalWaypoint::enablePathTolerance

(

void

)

void openjaus::mobility::SetGlobalWaypoint::enablePitch

(

void

)

void openjaus::mobility::SetGlobalWaypoint::enableRoll

(

void

)

void openjaus::mobility::SetGlobalWaypoint::enableWaypointTolerance

(

void

)

void openjaus::mobility::SetGlobalWaypoint::enableYaw

(

void

)

int openjaus::mobility::SetGlobalWaypoint::from

(

system::Buffer *

src

)

[virtual]

src - The source openjaus::system::Buffer from which this message will be unpacked.

Returns:

The number of bytes unpacked from the source buffer

Reimplemented from openjaus::model::Message.

double openjaus::mobility::SetGlobalWaypoint::getAltitude_m

(

void

)

double openjaus::mobility::SetGlobalWaypoint::getLatitude_deg

(

void

)

double openjaus::mobility::SetGlobalWaypoint::getLongitude_deg

(

void

)

double openjaus::mobility::SetGlobalWaypoint::getPathTolerance

(

void

)

double openjaus::mobility::SetGlobalWaypoint::getPitch_rad

(

void

)

uint8_t openjaus::mobility::SetGlobalWaypoint::getPresenceVector

(

void

)

const

double openjaus::mobility::SetGlobalWaypoint::getRoll_rad

(

void

)

double openjaus::mobility::SetGlobalWaypoint::getWaypointTolerance_m

(

void

)

double openjaus::mobility::SetGlobalWaypoint::getYaw_rad

(

void

)

bool openjaus::mobility::SetGlobalWaypoint::isAltitudeEnabled

(

void

)

const

bool openjaus::mobility::SetGlobalWaypoint::isPathToleranceEnabled

(

void

)

const

bool openjaus::mobility::SetGlobalWaypoint::isPitchEnabled

(

void

)

const

bool openjaus::mobility::SetGlobalWaypoint::isRollEnabled

(

void

)

const

bool openjaus::mobility::SetGlobalWaypoint::isWaypointToleranceEnabled

(

void

)

const

bool openjaus::mobility::SetGlobalWaypoint::isYawEnabled

(

void

)

const

int openjaus::mobility::SetGlobalWaypoint::length

(

void

)

[virtual]

The number of bytes this message would occupy in a buffer

Reimplemented from openjaus::model::Message.

void openjaus::mobility::SetGlobalWaypoint::setAltitude_m

(

double

value

)

void openjaus::mobility::SetGlobalWaypoint::setLatitude_deg

(

double

value

)

void openjaus::mobility::SetGlobalWaypoint::setLongitude_deg

(

double

value

)

void openjaus::mobility::SetGlobalWaypoint::setPathTolerance

(

double

value

)

void openjaus::mobility::SetGlobalWaypoint::setPitch_rad

(

double

value

)

void openjaus::mobility::SetGlobalWaypoint::setPresenceVector

(

uint8_t

value

)

void openjaus::mobility::SetGlobalWaypoint::setRoll_rad

(

double

value

)

void openjaus::mobility::SetGlobalWaypoint::setWaypointTolerance_m

(

double

value

)

void openjaus::mobility::SetGlobalWaypoint::setYaw_rad

(

double

value

)

int openjaus::mobility::SetGlobalWaypoint::to

(

system::Buffer *

dst

)

[virtual]

dst - The destination openjaus::system::Buffer to which this message will be packed.

Returns:

The number of bytes packed into the destination buffer

Reimplemented from openjaus::model::Message.

std::string openjaus::mobility::SetGlobalWaypoint::toXml

(

unsigned char

level = 0

)

const

level - Used to determine how many tabs are inserted per line for pretty formating.

Returns:

The serialized XML string

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Member Data Documentation

JausAltitudeScaledInteger openjaus::mobility::SetGlobalWaypoint::altitude_m [private]

const uint16_t openjaus::mobility::SetGlobalWaypoint::ID = 0x040C [static]

JausLatitudeScaledInteger openjaus::mobility::SetGlobalWaypoint::latitude_deg [private]

JausLongitudeScaledInteger openjaus::mobility::SetGlobalWaypoint::longitude_deg [private]

PathToleranceRefScaledInteger openjaus::mobility::SetGlobalWaypoint::pathTolerance [private]

OrientationScaledInteger openjaus::mobility::SetGlobalWaypoint::pitch_rad [private]

uint8_t openjaus::mobility::SetGlobalWaypoint::presenceVector [private]

OrientationScaledInteger openjaus::mobility::SetGlobalWaypoint::roll_rad [private]

WaypointToleranceRefScaledInteger openjaus::mobility::SetGlobalWaypoint::waypointTolerance_m [private]

OrientationScaledInteger openjaus::mobility::SetGlobalWaypoint::yaw_rad [private]

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The documentation for this class was generated from the following files:

• include/openjaus/mobility/Triggers/SetGlobalWaypoint.h
• src/openjaus/mobility/Triggers/SetGlobalWaypoint.cpp