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
 

Friends

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
 
system::Transportablepayload
 
Address source
 
TransportDatatransportData
 
- 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)
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.

§ 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  )
virtual
Returns
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)
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::SetLocalWaypoint::toString ( ) const
virtual
Returns
The string

Reimplemented from openjaus::model::Message.

§ toXml()

std::string openjaus::mobility::SetLocalWaypoint::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 SetLocalWaypoint object 
)
friend

§ operator<< [2/2]

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

Member Data Documentation

§ ID

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

§ pathTolerance

PathToleranceRefScaledInteger openjaus::mobility::SetLocalWaypoint::pathTolerance
private

§ PATHTOLERANCE_MAX_VALUE

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

§ PATHTOLERANCE_MIN_VALUE

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

§ PITCH_MAX_VALUE

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

§ PITCH_MIN_VALUE

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

§ pitch_rad

OrientationScaledInteger openjaus::mobility::SetLocalWaypoint::pitch_rad
private

§ presenceVector

uint8_t openjaus::mobility::SetLocalWaypoint::presenceVector
private

§ PV_ALL_FIELDS

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

§ PV_NO_FIELDS

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

§ PV_PATHTOLERANCE

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

§ PV_PITCH

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

§ PV_ROLL

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

§ PV_WAYPOINTTOLERANCE

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

§ PV_YAW

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

§ PV_Z

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

§ ROLL_MAX_VALUE

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

§ ROLL_MIN_VALUE

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

§ roll_rad

OrientationScaledInteger openjaus::mobility::SetLocalWaypoint::roll_rad
private

§ waypointTolerance_m

WaypointToleranceRefScaledInteger openjaus::mobility::SetLocalWaypoint::waypointTolerance_m
private

§ WAYPOINTTOLERANCE_MAX_VALUE

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

§ WAYPOINTTOLERANCE_MIN_VALUE

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

§ x_m

LocalPositionScaledInteger openjaus::mobility::SetLocalWaypoint::x_m
private

§ X_MAX_VALUE

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

§ X_MIN_VALUE

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

§ y_m

LocalPositionScaledInteger openjaus::mobility::SetLocalWaypoint::y_m
private

§ Y_MAX_VALUE

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

§ Y_MIN_VALUE

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

§ YAW_MAX_VALUE

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

§ YAW_MIN_VALUE

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

§ yaw_rad

OrientationScaledInteger openjaus::mobility::SetLocalWaypoint::yaw_rad
private

§ z_m

LocalPositionScaledInteger openjaus::mobility::SetLocalWaypoint::z_m
private

§ Z_MAX_VALUE

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

§ Z_MIN_VALUE

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

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