openjaus::mobility::SetGlobalPathSegment Class Reference

SetGlobalPathSegment Message Implementation. More...

#include <SetGlobalPathSegment.h>

Inherits openjaus::model::Message.

Public Member Functions
	SetGlobalPathSegment ()
	SetGlobalPathSegment (model::Message *message)
	~SetGlobalPathSegment ()
virtual int	to (system::Buffer *dst)
	Pack this message to the given openjaus::system::Buffer. More...
virtual int	from (system::Buffer *src)
	Unpack this message from the given openjaus::system::Buffer. More...
virtual int	length ()
	Get the number of bytes this message would occupy in a serialized buffer. More...
std::string	toXml (unsigned char ojIndentLevel=0) const
	Used to serialize the runtime state of the message to an XML format. More...
std::string	toString () const
	Returns a string populated with the Message name and ID More...
void	setPresenceVector (uint8_t value)
uint8_t	getPresenceVector (void) const
bool	isP1AltitudeEnabled (void) const
void	enableP1Altitude (void)
void	disableP1Altitude (void)
bool	isP2AltitudeEnabled (void) const
void	enableP2Altitude (void)
void	disableP2Altitude (void)
bool	isPathToleranceEnabled (void) const
void	enablePathTolerance (void)
void	disablePathTolerance (void)
double	getP1Latitude_deg (void)
bool	setP1Latitude_deg (double value)
double	getP1Longitude_deg (void)
bool	setP1Longitude_deg (double value)
double	getP1Altitude_m (void)
bool	setP1Altitude_m (double value)
double	getP2Latitude_deg (void)
bool	setP2Latitude_deg (double value)
double	getP2Longitude_deg (void)
bool	setP2Longitude_deg (double value)
double	getP2Altitude_m (void)
bool	setP2Altitude_m (double value)
double	getWeightingFactor (void)
bool	setWeightingFactor (double value)
double	getPathTolerance (void)
bool	setPathTolerance (double value)
Public Member Functions inherited from openjaus::model::Message
	Message ()
virtual	~Message ()
	Message (Message *message)
int	to (system::Buffer *dst)
	Operation to. More...
int	from (system::Buffer *src)
	Operation from. More...
Public Member Functions inherited from openjaus::transport::Wrapper
	Wrapper ()
virtual	~Wrapper ()
AckNakType	getAckNak () const
	Accessor to get the value of ackNak. More...
bool	setAckNak (AckNakType ackNak)
	Accessor to set value of ackNak. More...
bool	isCompressible () const
	Accessor to get the value of compressible. More...
bool	setCompressible (bool compressible)
	Accessor to set value of compressible. More...
bool	isMustArrive () const
	Accessor to get the value of mustArrive. More...
bool	setMustArrive (bool mustArrive)
	Accessor to set value of mustArrive. More...
uint16_t	getSequenceNumber () const
	Accessor to get the value of sequenceNumber. More...
bool	setSequenceNumber (uint16_t sequenceNumber)
	Accessor to set value of sequenceNumber. More...
WrapperType	getType () const
	Accessor to get the value of type. More...
bool	setType (WrapperType type)
	Accessor to set value of type. More...
Priority	getPriority () const
	Accessor to get the value of priority. More...
bool	setPriority (Priority priority)
	Accessor to set value of priority. More...
BroadcastType	getBroadcastFlag () const
	Accessor to get the value of broadcastFlag. More...
bool	setBroadcastFlag (BroadcastType broadcastFlag)
	Accessor to set value of broadcastFlag. More...
LargeMessageType	getLargeMessageFlag () const
	Accessor to get the value of largeMessageFlag. More...
bool	setLargeMessageFlag (LargeMessageType largeMessageFlag)
	Accessor to set value of largeMessageFlag. More...
const Address &	getDestination () const
	Accessor to get the value of destination. More...
bool	setDestination (const Address &destination)
	Accessor to set value of destination. More...
system::Transportable *	getPayload () const
	Accessor to get the value of payload. More...
bool	setPayload (system::Transportable *payload)
	Accessor to set value of payload. More...
const Address &	getSource () const
	Accessor to get the value of source. More...
bool	setSource (const Address &source)
	Accessor to set value of source. More...
TransportData *	getTransportData () const
	Accessor to get the value of transportData. More...
bool	setTransportData (TransportData *transportData)
	Accessor to set value of transportData. More...
virtual int	prioritizedValue ()
	Operation prioritizedValue. More...
virtual Wrapper *	clone ()
Public Member Functions inherited from openjaus::system::Transportable
virtual	~Transportable ()
	Transportable ()
Public Member Functions inherited from openjaus::system::Prioritized
virtual	~Prioritized ()
Public Member Functions inherited from openjaus::model::Trigger
	Trigger ()
virtual	~Trigger ()
double	getTriggerTimestamp_sec () const
	Accessor to get the value of triggerTimestamp_sec. More...
bool	setTriggerTimestamp_sec (double triggerTimestamp_sec)
	Accessor to set value of triggerTimestamp_sec. More...
uint32_t	getId () const
	Accessor to get the value of id. More...
bool	setId (uint32_t id)
	Accessor to set value of id. More...
std::string	idString ()
	Operation idString. More...

Static Public Attributes
static const uint16_t	ID = 0x040F
static const uint8_t	PV_ALL_FIELDS = 0xFF
static const uint8_t	PV_NO_FIELDS = 0x0
static const uint8_t	PV_P1ALTITUDE = 0x1
static const uint8_t	PV_P2ALTITUDE = 0x2
static const uint8_t	PV_PATHTOLERANCE = 0x4
static const double	P1LATITUDE_MIN_VALUE = -90.0
static const double	P1LATITUDE_MAX_VALUE = 90.0
static const double	P1LONGITUDE_MIN_VALUE = -180.0
static const double	P1LONGITUDE_MAX_VALUE = 180.0
static const double	P1ALTITUDE_MIN_VALUE = -10000.0
static const double	P1ALTITUDE_MAX_VALUE = 35000.0
static const double	P2LATITUDE_MIN_VALUE = -90.0
static const double	P2LATITUDE_MAX_VALUE = 90.0
static const double	P2LONGITUDE_MIN_VALUE = -180.0
static const double	P2LONGITUDE_MAX_VALUE = 180.0
static const double	P2ALTITUDE_MIN_VALUE = -10000.0
static const double	P2ALTITUDE_MAX_VALUE = 35000.0
static const double	WEIGHTINGFACTOR_MIN_VALUE = 0.0
static const double	WEIGHTINGFACTOR_MAX_VALUE = 500.0
static const double	PATHTOLERANCE_MIN_VALUE = 0.0
static const double	PATHTOLERANCE_MAX_VALUE = 100000.0

Private Attributes
JausLatitudeScaledInteger	p1Latitude_deg
JausLongitudeScaledInteger	p1Longitude_deg
JausAltitudeScaledInteger	p1Altitude_m
JausLatitudeScaledInteger	p2Latitude_deg
JausLongitudeScaledInteger	p2Longitude_deg
JausAltitudeScaledInteger	p2Altitude_m
WeightingFactorRefScaledInteger	weightingFactor
PathToleranceRefScaledInteger	pathTolerance
uint8_t	presenceVector

Friends
OPENJAUS_EXPORT friend std::ostream &	operator<< (std::ostream &output, const SetGlobalPathSegment &object)
	OStream operator for Message object More...
OPENJAUS_EXPORT friend std::ostream &	operator<< (std::ostream &output, const SetGlobalPathSegment *object)
	OStream operator for Message pointer More...

Additional Inherited Members
Protected Member Functions inherited from openjaus::transport::Wrapper
	Wrapper (const Wrapper &wrapper)
Protected Attributes inherited from openjaus::transport::Wrapper
AckNakType	ackNak
bool	compressible
bool	mustArrive
uint16_t	sequenceNumber
WrapperType	type
Priority	priority
BroadcastType	broadcastFlag
LargeMessageType	largeMessageFlag
Address	destination
system::Transportable *	payload
Address	source
TransportData *	transportData
Protected Attributes inherited from openjaus::model::Trigger
double	triggerTimestamp_sec
uint32_t	id

Detailed Description

This message is used to set the path segment data based on the global coordinate system. A global path segment is defined in this message using three points, P0, P1 and P2 and a weighting factor. For the first path segment, i.e. the first element in a list of path segments, P0 is assumed to be the current location of the platform as defined by Report Global Pose. For each successive path segments, i.e. where the path segment number is greater than zero, P0 is equal to the previous path segment's P2. Therefore, for each message, only P1, P2, and a weighting factor must be set in order to define a path segment. Each point is defined in the Global Coordinate System by setting its Latitude, Longitude and Altitude, as specified by the WGS 84 standard. Both the Latitude and Longitude are required fields, but the Altitude field is optional.

Constructor & Destructor Documentation

SetGlobalPathSegment() [1/2]

openjaus::mobility::SetGlobalPathSegment::SetGlobalPathSegment

(

)

SetGlobalPathSegment() [2/2]

openjaus::mobility::SetGlobalPathSegment::SetGlobalPathSegment

(

model::Message *

message

)

~SetGlobalPathSegment()

openjaus::mobility::SetGlobalPathSegment::~SetGlobalPathSegment

(

)

Member Function Documentation

disableP1Altitude()

void openjaus::mobility::SetGlobalPathSegment::disableP1Altitude

(

void

)

disableP2Altitude()

void openjaus::mobility::SetGlobalPathSegment::disableP2Altitude

(

void

)

disablePathTolerance()

void openjaus::mobility::SetGlobalPathSegment::disablePathTolerance

(

void

)

enableP1Altitude()

void openjaus::mobility::SetGlobalPathSegment::enableP1Altitude

(

void

)

enableP2Altitude()

void openjaus::mobility::SetGlobalPathSegment::enableP2Altitude

(

void

)

enablePathTolerance()

void openjaus::mobility::SetGlobalPathSegment::enablePathTolerance

(

void

)

from()

int openjaus::mobility::SetGlobalPathSegment::from ( system::Buffer *  src )

virtual

Parameters

[in]

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::transport::Wrapper.

getP1Altitude_m()

double openjaus::mobility::SetGlobalPathSegment::getP1Altitude_m

(

void

)

getP1Latitude_deg()

double openjaus::mobility::SetGlobalPathSegment::getP1Latitude_deg

(

void

)

getP1Longitude_deg()

double openjaus::mobility::SetGlobalPathSegment::getP1Longitude_deg

(

void

)

getP2Altitude_m()

double openjaus::mobility::SetGlobalPathSegment::getP2Altitude_m

(

void

)

getP2Latitude_deg()

double openjaus::mobility::SetGlobalPathSegment::getP2Latitude_deg

(

void

)

getP2Longitude_deg()

double openjaus::mobility::SetGlobalPathSegment::getP2Longitude_deg

(

void

)

getPathTolerance()

double openjaus::mobility::SetGlobalPathSegment::getPathTolerance

(

void

)

getPresenceVector()

uint8_t openjaus::mobility::SetGlobalPathSegment::getPresenceVector

(

void

)

const

getWeightingFactor()

double openjaus::mobility::SetGlobalPathSegment::getWeightingFactor

(

void

)

isP1AltitudeEnabled()

bool openjaus::mobility::SetGlobalPathSegment::isP1AltitudeEnabled

(

void

)

const

isP2AltitudeEnabled()

bool openjaus::mobility::SetGlobalPathSegment::isP2AltitudeEnabled

(

void

)

const

isPathToleranceEnabled()

bool openjaus::mobility::SetGlobalPathSegment::isPathToleranceEnabled

(

void

)

const

length()

int openjaus::mobility::SetGlobalPathSegment::length ( void  )

virtual

Returns

The number of bytes this message would occupy in a buffer

Reimplemented from openjaus::model::Message.

setP1Altitude_m()

bool openjaus::mobility::SetGlobalPathSegment::setP1Altitude_m

(

double

value

)

setP1Latitude_deg()

bool openjaus::mobility::SetGlobalPathSegment::setP1Latitude_deg

(

double

value

)

setP1Longitude_deg()

bool openjaus::mobility::SetGlobalPathSegment::setP1Longitude_deg

(

double

value

)

setP2Altitude_m()

bool openjaus::mobility::SetGlobalPathSegment::setP2Altitude_m

(

double

value

)

setP2Latitude_deg()

bool openjaus::mobility::SetGlobalPathSegment::setP2Latitude_deg

(

double

value

)

setP2Longitude_deg()

bool openjaus::mobility::SetGlobalPathSegment::setP2Longitude_deg

(

double

value

)

setPathTolerance()

bool openjaus::mobility::SetGlobalPathSegment::setPathTolerance

(

double

value

)

setPresenceVector()

void openjaus::mobility::SetGlobalPathSegment::setPresenceVector

(

uint8_t

value

)

setWeightingFactor()

bool openjaus::mobility::SetGlobalPathSegment::setWeightingFactor

(

double

value

)

to()

int openjaus::mobility::SetGlobalPathSegment::to ( system::Buffer *  dst )

virtual

Parameters

[out]

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::transport::Wrapper.

toString()

std::string openjaus::mobility::SetGlobalPathSegment::toString ( ) const

virtual

Returns

The string

Reimplemented from openjaus::model::Message.

toXml()

std::string openjaus::mobility::SetGlobalPathSegment::toXml

(

unsigned char

ojIndentLevel = 0

)

const

Parameters

[in]

ojIndentLevel

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

Returns

The serialized XML string

Friends And Related Function Documentation

operator<< [1/2]

OPENJAUS_EXPORT friend std::ostream& operator<< ( std::ostream &  output, const SetGlobalPathSegment &  object  )

friend

operator<< [2/2]

OPENJAUS_EXPORT friend std::ostream& operator<< ( std::ostream &  output, const SetGlobalPathSegment *  object  )

friend

Member Data Documentation

ID

const uint16_t openjaus::mobility::SetGlobalPathSegment::ID = 0x040F

static

p1Altitude_m

JausAltitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p1Altitude_m

private

P1ALTITUDE_MAX_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P1ALTITUDE_MAX_VALUE = 35000.0

static

P1ALTITUDE_MIN_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P1ALTITUDE_MIN_VALUE = -10000.0

static

p1Latitude_deg

JausLatitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p1Latitude_deg

private

P1LATITUDE_MAX_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P1LATITUDE_MAX_VALUE = 90.0

static

P1LATITUDE_MIN_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P1LATITUDE_MIN_VALUE = -90.0

static

p1Longitude_deg

JausLongitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p1Longitude_deg

private

P1LONGITUDE_MAX_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P1LONGITUDE_MAX_VALUE = 180.0

static

P1LONGITUDE_MIN_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P1LONGITUDE_MIN_VALUE = -180.0

static

p2Altitude_m

JausAltitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p2Altitude_m

private

P2ALTITUDE_MAX_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P2ALTITUDE_MAX_VALUE = 35000.0

static

P2ALTITUDE_MIN_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P2ALTITUDE_MIN_VALUE = -10000.0

static

p2Latitude_deg

JausLatitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p2Latitude_deg

private

P2LATITUDE_MAX_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P2LATITUDE_MAX_VALUE = 90.0

static

P2LATITUDE_MIN_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P2LATITUDE_MIN_VALUE = -90.0

static

p2Longitude_deg

JausLongitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p2Longitude_deg

private

P2LONGITUDE_MAX_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P2LONGITUDE_MAX_VALUE = 180.0

static

P2LONGITUDE_MIN_VALUE

const double openjaus::mobility::SetGlobalPathSegment::P2LONGITUDE_MIN_VALUE = -180.0

static

pathTolerance

PathToleranceRefScaledInteger openjaus::mobility::SetGlobalPathSegment::pathTolerance

private

PATHTOLERANCE_MAX_VALUE

const double openjaus::mobility::SetGlobalPathSegment::PATHTOLERANCE_MAX_VALUE = 100000.0

static

PATHTOLERANCE_MIN_VALUE

const double openjaus::mobility::SetGlobalPathSegment::PATHTOLERANCE_MIN_VALUE = 0.0

static

presenceVector

uint8_t openjaus::mobility::SetGlobalPathSegment::presenceVector

private

PV_ALL_FIELDS

const uint8_t openjaus::mobility::SetGlobalPathSegment::PV_ALL_FIELDS = 0xFF

static

PV_NO_FIELDS

const uint8_t openjaus::mobility::SetGlobalPathSegment::PV_NO_FIELDS = 0x0

static

PV_P1ALTITUDE

const uint8_t openjaus::mobility::SetGlobalPathSegment::PV_P1ALTITUDE = 0x1

static

PV_P2ALTITUDE

const uint8_t openjaus::mobility::SetGlobalPathSegment::PV_P2ALTITUDE = 0x2

static

PV_PATHTOLERANCE

const uint8_t openjaus::mobility::SetGlobalPathSegment::PV_PATHTOLERANCE = 0x4

static

weightingFactor

WeightingFactorRefScaledInteger openjaus::mobility::SetGlobalPathSegment::weightingFactor

private

WEIGHTINGFACTOR_MAX_VALUE

const double openjaus::mobility::SetGlobalPathSegment::WEIGHTINGFACTOR_MAX_VALUE = 500.0

static

WEIGHTINGFACTOR_MIN_VALUE

const double openjaus::mobility::SetGlobalPathSegment::WEIGHTINGFACTOR_MIN_VALUE = 0.0

static

---

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

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