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Home / MobilityServiceSet / GlobalWaypointListDriver


Version: 1.0
ID: urn:jaus:jss:mobility:GlobalWaypointListDriver
Inherits From:
extended byurn:jaus:jss:mobility:ListManager v1.0
extended byurn:jaus:jss:core:Management v1.1
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The function of the Global Waypoint List Driver is to move the platform given a series of target waypoints, desired travel speed, current platform pose and current velocity state. The sequence of waypoints is specified by one or more SetElement messages. A waypoint consists of the desired position and orientation of the platform. The second input consists of the desired travel speed and an optional starting element. The desired travel speed remains unchanged unless a new ExecuteList command is received. The travel speed may then be changed at any time during waypoint navigation. The travel speed is reset to zero for all transitions from the Ready State.

Internal Event Set

Message Set
Message ID Name
041Eh ExecuteList
241Eh QueryActiveElement
441Eh ReportActiveElement

State Machine Diagram

GlobalWaypointListDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B GwldControlledLoop SetElement isControllingClient && ( isValidGwldElementRequest && isGwldElementSupported ) sendConfirmElementRequest , setGlobalWaypointElement
SetElement isControllingClient && !isValidGwldElementRequest sendRejectElementRequest
SetElement isControllingClient && !isGwldElementSupported sendRejectElementRequest
A GwldDefaultLoop QueryTravelSpeed sendReportTravelSpeed
QueryGlobalWaypoint gwldWaypointExists sendReportGlobalWaypoint
QueryActiveElement sendReportActiveElement
C GwldReadyLoop ExecuteList isControllingClient && gwldWaypointExists executeGlobalWaypointList
ExecuteList isControllingClient && !gwldElementSpecified modifyGwldTravelSpeed

Action Name Type Description
resetGwldTravelSpeed Exit Action
sendConfirmElementRequest Send Action Output Message: ConfirmElementRequest
sendRejectElementRequest Send Action Output Message: RejectElementRequest
sendReportActiveElement Send Action Output Message: ReportActiveElement
sendReportGlobalWaypoint Send Action Output Message: ReportGlobalWaypoint
sendReportTravelSpeed Send Action Output Message: ReportTravelSpeed

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Portions Copyright © OpenJAUS LLC.
The information above is generated from the JAUS Services modelled in the OpenJAUS SDK using OpenJAUS Service Studio. It is provided as a resource to assist JAUS developers and is not a substitute for the JAUS Standards Documents which may be obtained from the SAE International.

Generated on 09/11/2015 from AS6009-Mobility.ojss