OpenJAUS Software Development Kit  4.3.1
Public Member Functions | Static Public Attributes | Private Attributes | Friends | List of all members
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 AddressgetDestination () const
 Accessor to get the value of destination. More...
bool setDestination (const Address &destination)
 Accessor to set value of destination. More...
system::TransportablegetPayload () const
 Accessor to get the value of payload. More...
bool setPayload (system::Transportable *payload)
 Accessor to set value of payload. More...
const AddressgetSource () const
 Accessor to get the value of source. More...
bool setSource (const Address &source)
 Accessor to set value of source. More...
TransportDatagetTransportData () 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 Wrapperclone ()
- 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


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
Address source
- 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)
[in]src- The source openjaus::system::Buffer from which this message will be unpacked.
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  )
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)
[out]dst- The destination openjaus::system::Buffer to which this message will be packed.
The number of bytes packed into the destination buffer

Reimplemented from openjaus::transport::Wrapper.

§ toString()

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

Reimplemented from openjaus::model::Message.

§ toXml()

std::string openjaus::mobility::SetGlobalPathSegment::toXml ( unsigned char  ojIndentLevel = 0) const
[in]ojIndentLevel- Used to determine how many tabs are inserted per line for pretty formating.
The serialized XML string

Friends And Related Function Documentation

§ operator<< [1/2]

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

§ operator<< [2/2]

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

Member Data Documentation

§ ID

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

§ p1Altitude_m

JausAltitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p1Altitude_m


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


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

§ p1Latitude_deg

JausLatitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p1Latitude_deg


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


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

§ p1Longitude_deg

JausLongitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p1Longitude_deg


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


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

§ p2Altitude_m

JausAltitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p2Altitude_m


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


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

§ p2Latitude_deg

JausLatitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p2Latitude_deg


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


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

§ p2Longitude_deg

JausLongitudeScaledInteger openjaus::mobility::SetGlobalPathSegment::p2Longitude_deg


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


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

§ pathTolerance

PathToleranceRefScaledInteger openjaus::mobility::SetGlobalPathSegment::pathTolerance


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


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

§ presenceVector

uint8_t openjaus::mobility::SetGlobalPathSegment::presenceVector


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


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


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


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


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

§ weightingFactor

WeightingFactorRefScaledInteger openjaus::mobility::SetGlobalPathSegment::weightingFactor


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


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

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