OpenJAUS Software Development Kit  4.3.1
Public Member Functions | Static Public Attributes | Private Attributes | Friends | List of all members
openjaus::mobility::SetLocalWaypoint Class Reference

SetLocalWaypoint Message Implementation. More...

#include <SetLocalWaypoint.h>

Inherits openjaus::model::Message.

Public Member Functions

 SetLocalWaypoint ()
 SetLocalWaypoint (model::Message *message)
 ~SetLocalWaypoint ()
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 isZEnabled (void) const
void enableZ (void)
void disableZ (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 getX_m (void)
bool setX_m (double value)
double getY_m (void)
bool setY_m (double value)
double getZ_m (void)
bool setZ_m (double value)
double getRoll_rad (void)
bool setRoll_rad (double value)
double getPitch_rad (void)
bool setPitch_rad (double value)
double getYaw_rad (void)
bool setYaw_rad (double value)
double getWaypointTolerance_m (void)
bool setWaypointTolerance_m (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 = 0x040D
static const uint8_t PV_ALL_FIELDS = 0xFF
static const uint8_t PV_NO_FIELDS = 0x0
static const uint8_t PV_Z = 0x1
static const uint8_t PV_ROLL = 0x2
static const uint8_t PV_PITCH = 0x4
static const uint8_t PV_YAW = 0x8
static const uint8_t PV_WAYPOINTTOLERANCE = 0x10
static const uint8_t PV_PATHTOLERANCE = 0x20
static const double X_MIN_VALUE = -100000.0
static const double X_MAX_VALUE = 100000.0
static const double Y_MIN_VALUE = -100000.0
static const double Y_MAX_VALUE = 100000.0
static const double Z_MIN_VALUE = -100000.0
static const double Z_MAX_VALUE = 100000.0
static const double ROLL_MIN_VALUE = -3.141592653589793
static const double ROLL_MAX_VALUE = 3.141592653589793
static const double PITCH_MIN_VALUE = -3.141592653589793
static const double PITCH_MAX_VALUE = 3.141592653589793
static const double YAW_MIN_VALUE = -3.141592653589793
static const double YAW_MAX_VALUE = 3.141592653589793
static const double WAYPOINTTOLERANCE_MIN_VALUE = 0.0
static const double WAYPOINTTOLERANCE_MAX_VALUE = 100.0
static const double PATHTOLERANCE_MIN_VALUE = 0.0
static const double PATHTOLERANCE_MAX_VALUE = 100000.0

Private Attributes

LocalPositionScaledInteger x_m
LocalPositionScaledInteger y_m
LocalPositionScaledInteger z_m
OrientationScaledInteger roll_rad
OrientationScaledInteger pitch_rad
OrientationScaledInteger yaw_rad
WaypointToleranceRefScaledInteger waypointTolerance_m
PathToleranceRefScaledInteger pathTolerance
uint8_t presenceVector


OPENJAUS_EXPORT friend std::ostream & operator<< (std::ostream &output, const SetLocalWaypoint &object)
 OStream operator for Message object More...
OPENJAUS_EXPORT friend std::ostream & operator<< (std::ostream &output, const SetLocalWaypoint *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 waypoint data based on the local coordinate system. A local waypoint can have up to six fields to describe it completely. The waypoint is defined in a local coordinate system using the X, Y, and Z 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, X, and Y) are required for each waypoint. The presence vector is used to specify if the remaining fields, i.e., Z, roll, pitch, and yaw, are used to further describe each waypoint and the desired orientation at that point.

Constructor & Destructor Documentation

§ SetLocalWaypoint() [1/2]

openjaus::mobility::SetLocalWaypoint::SetLocalWaypoint ( )

§ SetLocalWaypoint() [2/2]

openjaus::mobility::SetLocalWaypoint::SetLocalWaypoint ( model::Message message)

§ ~SetLocalWaypoint()

openjaus::mobility::SetLocalWaypoint::~SetLocalWaypoint ( )

Member Function Documentation

§ disablePathTolerance()

void openjaus::mobility::SetLocalWaypoint::disablePathTolerance ( void  )

§ disablePitch()

void openjaus::mobility::SetLocalWaypoint::disablePitch ( void  )

§ disableRoll()

void openjaus::mobility::SetLocalWaypoint::disableRoll ( void  )

§ disableWaypointTolerance()

void openjaus::mobility::SetLocalWaypoint::disableWaypointTolerance ( void  )

§ disableYaw()

void openjaus::mobility::SetLocalWaypoint::disableYaw ( void  )

§ disableZ()

void openjaus::mobility::SetLocalWaypoint::disableZ ( void  )

§ enablePathTolerance()

void openjaus::mobility::SetLocalWaypoint::enablePathTolerance ( void  )

§ enablePitch()

void openjaus::mobility::SetLocalWaypoint::enablePitch ( void  )

§ enableRoll()

void openjaus::mobility::SetLocalWaypoint::enableRoll ( void  )

§ enableWaypointTolerance()

void openjaus::mobility::SetLocalWaypoint::enableWaypointTolerance ( void  )

§ enableYaw()

void openjaus::mobility::SetLocalWaypoint::enableYaw ( void  )

§ enableZ()

void openjaus::mobility::SetLocalWaypoint::enableZ ( void  )

§ from()

int openjaus::mobility::SetLocalWaypoint::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.

§ getPathTolerance()

double openjaus::mobility::SetLocalWaypoint::getPathTolerance ( void  )

§ getPitch_rad()

double openjaus::mobility::SetLocalWaypoint::getPitch_rad ( void  )

§ getPresenceVector()

uint8_t openjaus::mobility::SetLocalWaypoint::getPresenceVector ( void  ) const

§ getRoll_rad()

double openjaus::mobility::SetLocalWaypoint::getRoll_rad ( void  )

§ getWaypointTolerance_m()

double openjaus::mobility::SetLocalWaypoint::getWaypointTolerance_m ( void  )

§ getX_m()

double openjaus::mobility::SetLocalWaypoint::getX_m ( void  )

§ getY_m()

double openjaus::mobility::SetLocalWaypoint::getY_m ( void  )

§ getYaw_rad()

double openjaus::mobility::SetLocalWaypoint::getYaw_rad ( void  )

§ getZ_m()

double openjaus::mobility::SetLocalWaypoint::getZ_m ( void  )

§ isPathToleranceEnabled()

bool openjaus::mobility::SetLocalWaypoint::isPathToleranceEnabled ( void  ) const

§ isPitchEnabled()

bool openjaus::mobility::SetLocalWaypoint::isPitchEnabled ( void  ) const

§ isRollEnabled()

bool openjaus::mobility::SetLocalWaypoint::isRollEnabled ( void  ) const

§ isWaypointToleranceEnabled()

bool openjaus::mobility::SetLocalWaypoint::isWaypointToleranceEnabled ( void  ) const

§ isYawEnabled()

bool openjaus::mobility::SetLocalWaypoint::isYawEnabled ( void  ) const

§ isZEnabled()

bool openjaus::mobility::SetLocalWaypoint::isZEnabled ( void  ) const

§ length()

int openjaus::mobility::SetLocalWaypoint::length ( void  )
The number of bytes this message would occupy in a buffer

Reimplemented from openjaus::model::Message.

§ setPathTolerance()

bool openjaus::mobility::SetLocalWaypoint::setPathTolerance ( double  value)

§ setPitch_rad()

bool openjaus::mobility::SetLocalWaypoint::setPitch_rad ( double  value)

§ setPresenceVector()

void openjaus::mobility::SetLocalWaypoint::setPresenceVector ( uint8_t  value)

§ setRoll_rad()

bool openjaus::mobility::SetLocalWaypoint::setRoll_rad ( double  value)

§ setWaypointTolerance_m()

bool openjaus::mobility::SetLocalWaypoint::setWaypointTolerance_m ( double  value)

§ setX_m()

bool openjaus::mobility::SetLocalWaypoint::setX_m ( double  value)

§ setY_m()

bool openjaus::mobility::SetLocalWaypoint::setY_m ( double  value)

§ setYaw_rad()

bool openjaus::mobility::SetLocalWaypoint::setYaw_rad ( double  value)

§ setZ_m()

bool openjaus::mobility::SetLocalWaypoint::setZ_m ( double  value)

§ to()

int openjaus::mobility::SetLocalWaypoint::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::SetLocalWaypoint::toString ( ) const
The string

Reimplemented from openjaus::model::Message.

§ toXml()

std::string openjaus::mobility::SetLocalWaypoint::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 SetLocalWaypoint object 

§ operator<< [2/2]

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

Member Data Documentation

§ ID

const uint16_t openjaus::mobility::SetLocalWaypoint::ID = 0x040D

§ pathTolerance

PathToleranceRefScaledInteger openjaus::mobility::SetLocalWaypoint::pathTolerance


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


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


const double openjaus::mobility::SetLocalWaypoint::PITCH_MAX_VALUE = 3.141592653589793


const double openjaus::mobility::SetLocalWaypoint::PITCH_MIN_VALUE = -3.141592653589793

§ pitch_rad

OrientationScaledInteger openjaus::mobility::SetLocalWaypoint::pitch_rad

§ presenceVector

uint8_t openjaus::mobility::SetLocalWaypoint::presenceVector


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


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


const uint8_t openjaus::mobility::SetLocalWaypoint::PV_PATHTOLERANCE = 0x20


const uint8_t openjaus::mobility::SetLocalWaypoint::PV_PITCH = 0x4


const uint8_t openjaus::mobility::SetLocalWaypoint::PV_ROLL = 0x2


const uint8_t openjaus::mobility::SetLocalWaypoint::PV_WAYPOINTTOLERANCE = 0x10


const uint8_t openjaus::mobility::SetLocalWaypoint::PV_YAW = 0x8

§ PV_Z

const uint8_t openjaus::mobility::SetLocalWaypoint::PV_Z = 0x1


const double openjaus::mobility::SetLocalWaypoint::ROLL_MAX_VALUE = 3.141592653589793


const double openjaus::mobility::SetLocalWaypoint::ROLL_MIN_VALUE = -3.141592653589793

§ roll_rad

OrientationScaledInteger openjaus::mobility::SetLocalWaypoint::roll_rad

§ waypointTolerance_m

WaypointToleranceRefScaledInteger openjaus::mobility::SetLocalWaypoint::waypointTolerance_m


const double openjaus::mobility::SetLocalWaypoint::WAYPOINTTOLERANCE_MAX_VALUE = 100.0


const double openjaus::mobility::SetLocalWaypoint::WAYPOINTTOLERANCE_MIN_VALUE = 0.0

§ x_m

LocalPositionScaledInteger openjaus::mobility::SetLocalWaypoint::x_m


const double openjaus::mobility::SetLocalWaypoint::X_MAX_VALUE = 100000.0


const double openjaus::mobility::SetLocalWaypoint::X_MIN_VALUE = -100000.0

§ y_m

LocalPositionScaledInteger openjaus::mobility::SetLocalWaypoint::y_m


const double openjaus::mobility::SetLocalWaypoint::Y_MAX_VALUE = 100000.0


const double openjaus::mobility::SetLocalWaypoint::Y_MIN_VALUE = -100000.0


const double openjaus::mobility::SetLocalWaypoint::YAW_MAX_VALUE = 3.141592653589793


const double openjaus::mobility::SetLocalWaypoint::YAW_MIN_VALUE = -3.141592653589793

§ yaw_rad

OrientationScaledInteger openjaus::mobility::SetLocalWaypoint::yaw_rad

§ z_m

LocalPositionScaledInteger openjaus::mobility::SetLocalWaypoint::z_m


const double openjaus::mobility::SetLocalWaypoint::Z_MAX_VALUE = 100000.0


const double openjaus::mobility::SetLocalWaypoint::Z_MIN_VALUE = -100000.0

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