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

SetAckermannConfiguration Message Implementation. More...

#include <SetAckermannConfiguration.h>

Inherits openjaus::model::Message.

Public Member Functions

 SetAckermannConfiguration ()
 
 SetAckermannConfiguration (model::Message *message)
 
 ~SetAckermannConfiguration ()
 
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 isMaxSteeringRateEnabled (void) const
 
void enableMaxSteeringRate (void)
 
void disableMaxSteeringRate (void)
 
bool isMaxSteeringTorqueEnabled (void) const
 
void enableMaxSteeringTorque (void)
 
void disableMaxSteeringTorque (void)
 
double getSteeringAngle_rad (void)
 
bool setSteeringAngle_rad (double value)
 
double getThrottleEffort_percent (void)
 
bool setThrottleEffort_percent (double value)
 
double getBrakeEffort_percent (void)
 
bool setBrakeEffort_percent (double value)
 
double getMaxSteeringRate_rps (void)
 
bool setMaxSteeringRate_rps (double value)
 
double getMaxSteeringTorque_Nm (void)
 
bool setMaxSteeringTorque_Nm (double value)
 
- Public Member Functions inherited from openjaus::model::Message
 Message ()
 
virtual ~Message ()
 
 Message (Message *message)
 
- 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 = 0x0500
 
static const uint8_t PV_ALL_FIELDS = 0xFF
 
static const uint8_t PV_NO_FIELDS = 0x0
 
static const uint8_t PV_MAXSTEERINGRATE = 0x1
 
static const uint8_t PV_MAXSTEERINGTORQUE = 0x2
 
static const double MAXSTEERINGRATE_MIN_VALUE = 0.0
 
static const double MAXSTEERINGRATE_MAX_VALUE = 32.767
 
static const double MAXSTEERINGTORQUE_MIN_VALUE = 0.0
 
static const double MAXSTEERINGTORQUE_MAX_VALUE = 500.0
 
static const double STEERINGANGLE_MIN_VALUE = -1.5707963267948966
 
static const double STEERINGANGLE_MAX_VALUE = 1.5707963267948966
 
static const double THROTTLEEFFORT_MIN_VALUE = 0.0
 
static const double THROTTLEEFFORT_MAX_VALUE = 100.0
 
static const double BRAKEEFFORT_MIN_VALUE = 0.0
 
static const double BRAKEEFFORT_MAX_VALUE = 100.0
 

Private Attributes

PlusMinusHalfPiScaledInteger steeringAngle_rad
 
PlusEffortScaledInteger throttleEffort_percent
 
PlusEffortScaledInteger brakeEffort_percent
 
MaxSteeringRateScaledInteger maxSteeringRate_rps
 
MaxSteeringTorqueScaledInteger maxSteeringTorque_Nm
 
uint8_t presenceVector
 

Friends

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

Sets Ackermann driver parameters

Constructor & Destructor Documentation

§ SetAckermannConfiguration() [1/2]

openjaus::ugv::SetAckermannConfiguration::SetAckermannConfiguration ( )

§ SetAckermannConfiguration() [2/2]

openjaus::ugv::SetAckermannConfiguration::SetAckermannConfiguration ( model::Message message)

§ ~SetAckermannConfiguration()

openjaus::ugv::SetAckermannConfiguration::~SetAckermannConfiguration ( )

Member Function Documentation

§ disableMaxSteeringRate()

void openjaus::ugv::SetAckermannConfiguration::disableMaxSteeringRate ( void  )

§ disableMaxSteeringTorque()

void openjaus::ugv::SetAckermannConfiguration::disableMaxSteeringTorque ( void  )

§ enableMaxSteeringRate()

void openjaus::ugv::SetAckermannConfiguration::enableMaxSteeringRate ( void  )

§ enableMaxSteeringTorque()

void openjaus::ugv::SetAckermannConfiguration::enableMaxSteeringTorque ( void  )

§ from()

int openjaus::ugv::SetAckermannConfiguration::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::model::Message.

§ getBrakeEffort_percent()

double openjaus::ugv::SetAckermannConfiguration::getBrakeEffort_percent ( void  )

§ getMaxSteeringRate_rps()

double openjaus::ugv::SetAckermannConfiguration::getMaxSteeringRate_rps ( void  )

§ getMaxSteeringTorque_Nm()

double openjaus::ugv::SetAckermannConfiguration::getMaxSteeringTorque_Nm ( void  )

§ getPresenceVector()

uint8_t openjaus::ugv::SetAckermannConfiguration::getPresenceVector ( void  ) const

§ getSteeringAngle_rad()

double openjaus::ugv::SetAckermannConfiguration::getSteeringAngle_rad ( void  )

§ getThrottleEffort_percent()

double openjaus::ugv::SetAckermannConfiguration::getThrottleEffort_percent ( void  )

§ isMaxSteeringRateEnabled()

bool openjaus::ugv::SetAckermannConfiguration::isMaxSteeringRateEnabled ( void  ) const

§ isMaxSteeringTorqueEnabled()

bool openjaus::ugv::SetAckermannConfiguration::isMaxSteeringTorqueEnabled ( void  ) const

§ length()

int openjaus::ugv::SetAckermannConfiguration::length ( void  )
virtual
Returns
The number of bytes this message would occupy in a buffer

Reimplemented from openjaus::model::Message.

§ setBrakeEffort_percent()

bool openjaus::ugv::SetAckermannConfiguration::setBrakeEffort_percent ( double  value)

§ setMaxSteeringRate_rps()

bool openjaus::ugv::SetAckermannConfiguration::setMaxSteeringRate_rps ( double  value)

§ setMaxSteeringTorque_Nm()

bool openjaus::ugv::SetAckermannConfiguration::setMaxSteeringTorque_Nm ( double  value)

§ setPresenceVector()

void openjaus::ugv::SetAckermannConfiguration::setPresenceVector ( uint8_t  value)

§ setSteeringAngle_rad()

bool openjaus::ugv::SetAckermannConfiguration::setSteeringAngle_rad ( double  value)

§ setThrottleEffort_percent()

bool openjaus::ugv::SetAckermannConfiguration::setThrottleEffort_percent ( double  value)

§ to()

int openjaus::ugv::SetAckermannConfiguration::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::model::Message.

§ toString()

std::string openjaus::ugv::SetAckermannConfiguration::toString ( ) const
virtual
Returns
The string

Reimplemented from openjaus::model::Message.

§ toXml()

std::string openjaus::ugv::SetAckermannConfiguration::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 SetAckermannConfiguration object 
)
friend

§ operator<< [2/2]

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

Member Data Documentation

§ BRAKEEFFORT_MAX_VALUE

const double openjaus::ugv::SetAckermannConfiguration::BRAKEEFFORT_MAX_VALUE = 100.0
static

§ BRAKEEFFORT_MIN_VALUE

const double openjaus::ugv::SetAckermannConfiguration::BRAKEEFFORT_MIN_VALUE = 0.0
static

§ brakeEffort_percent

PlusEffortScaledInteger openjaus::ugv::SetAckermannConfiguration::brakeEffort_percent
private

§ ID

const uint16_t openjaus::ugv::SetAckermannConfiguration::ID = 0x0500
static

§ MAXSTEERINGRATE_MAX_VALUE

const double openjaus::ugv::SetAckermannConfiguration::MAXSTEERINGRATE_MAX_VALUE = 32.767
static

§ MAXSTEERINGRATE_MIN_VALUE

const double openjaus::ugv::SetAckermannConfiguration::MAXSTEERINGRATE_MIN_VALUE = 0.0
static

§ maxSteeringRate_rps

MaxSteeringRateScaledInteger openjaus::ugv::SetAckermannConfiguration::maxSteeringRate_rps
private

§ MAXSTEERINGTORQUE_MAX_VALUE

const double openjaus::ugv::SetAckermannConfiguration::MAXSTEERINGTORQUE_MAX_VALUE = 500.0
static

§ MAXSTEERINGTORQUE_MIN_VALUE

const double openjaus::ugv::SetAckermannConfiguration::MAXSTEERINGTORQUE_MIN_VALUE = 0.0
static

§ maxSteeringTorque_Nm

MaxSteeringTorqueScaledInteger openjaus::ugv::SetAckermannConfiguration::maxSteeringTorque_Nm
private

§ presenceVector

uint8_t openjaus::ugv::SetAckermannConfiguration::presenceVector
private

§ PV_ALL_FIELDS

const uint8_t openjaus::ugv::SetAckermannConfiguration::PV_ALL_FIELDS = 0xFF
static

§ PV_MAXSTEERINGRATE

const uint8_t openjaus::ugv::SetAckermannConfiguration::PV_MAXSTEERINGRATE = 0x1
static

§ PV_MAXSTEERINGTORQUE

const uint8_t openjaus::ugv::SetAckermannConfiguration::PV_MAXSTEERINGTORQUE = 0x2
static

§ PV_NO_FIELDS

const uint8_t openjaus::ugv::SetAckermannConfiguration::PV_NO_FIELDS = 0x0
static

§ STEERINGANGLE_MAX_VALUE

const double openjaus::ugv::SetAckermannConfiguration::STEERINGANGLE_MAX_VALUE = 1.5707963267948966
static

§ STEERINGANGLE_MIN_VALUE

const double openjaus::ugv::SetAckermannConfiguration::STEERINGANGLE_MIN_VALUE = -1.5707963267948966
static

§ steeringAngle_rad

PlusMinusHalfPiScaledInteger openjaus::ugv::SetAckermannConfiguration::steeringAngle_rad
private

§ THROTTLEEFFORT_MAX_VALUE

const double openjaus::ugv::SetAckermannConfiguration::THROTTLEEFFORT_MAX_VALUE = 100.0
static

§ THROTTLEEFFORT_MIN_VALUE

const double openjaus::ugv::SetAckermannConfiguration::THROTTLEEFFORT_MIN_VALUE = 0.0
static

§ throttleEffort_percent

PlusEffortScaledInteger openjaus::ugv::SetAckermannConfiguration::throttleEffort_percent
private

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