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Home / Iop_v2ServiceSet / ReportPhysicalProperties

Message ReportPhysicalProperties

Message ID: D732h

Description:
This message is used to report the physical properties of the node.

ReportPhysicalProperties
ElementList
ShapeTransformationRecord
ShapeVariant
MassRecord

Message Format
Field # Field Type Units Optional Interpretation
1 ElementList List false


ElementList
Count Field: Unsigned Byte
Field # Field Type Units Optional Interpretation
1 ShapeTransformationRecord Record false
2 ShapeVariant Variant varies false
3 MassRecord Record false


ShapeTransformationRecord
Field # Field Type Units Optional Interpretation
1 M11 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
2 M12 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
3 M13 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
4 M14 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -30.0
Real Upper Limit: 30.0
5 M21 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
6 M22 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
7 M23 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
8 M24 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -30.0
Real Upper Limit: 30.0
9 M31 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
10 M32 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
11 M33 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
12 M34 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -30.0
Real Upper Limit: 30.0
13 M41 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
14 M42 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
15 M43 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0
16 M44 Scaled Integer
Integer Size: Unsigned Short
units one false Rotation/translation matrix relative to the vehicle frame

Real Lower Limit: -1.0
Real Upper Limit: 1.0


ShapeVariant
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 Box Record false
1 Cylinder Record false
2 Sphere Record false


Box
Field # Field Type Units Optional Interpretation
1 LengthX Scaled Integer
Integer Size: Unsigned Short
units meter false Length of box along X dimension of the transformed frame

Real Lower Limit: 0.0
Real Upper Limit: 10.0
2 LengthY Scaled Integer
Integer Size: Unsigned Short
units meter false Length of box along Y dimension of the transformed frame

Real Lower Limit: 0.0
Real Upper Limit: 10.0
3 LengthZ Scaled Integer
Integer Size: Unsigned Short
units meter false Length of box along Z dimension of the transformed frame

Real Lower Limit: 0.0
Real Upper Limit: 10.0


Cylinder
Field # Field Type Units Optional Interpretation
1 Radius Scaled Integer
Integer Size: Unsigned Short
units meter false Radius of the cylinder in the XY plane of the transformed frame

Real Lower Limit: 0.0
Real Upper Limit: 10.0
2 Length Scaled Integer
Integer Size: Unsigned Short
units meter false Length of the cylinder along the Z axis of the transformed frame

Real Lower Limit: 0.0
Real Upper Limit: 10.0


Sphere
Field # Field Type Units Optional Interpretation
1 Radius Scaled Integer
Integer Size: Unsigned Short
units meter false Radius of the sphere

Real Lower Limit: 0.0
Real Upper Limit: 10.0


MassRecord
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Short one false Bit 0: Mass
Bit 1: CenterOfMassX
Bit 2: CenterOfMassY
Bit 3: CenterOfMassZ
Bit 4: MomentOfInertialTensorXX
Bit 5: MomentOfInertialTensorXY
Bit 6: MomentOfInertialTensorXZ
Bit 7: MomentOfInertialTensorYY
Bit 8: MomentOfInertialTensorYZ
Bit 9: MomentOfInertialTensorZZ
2 Mass Scaled Integer
Integer Size: Unsigned Integer
units kilogram true Mass of the shape

Real Lower Limit: 0.0
Real Upper Limit: 10000.0
3 CenterOfMassX Scaled Integer
Integer Size: Unsigned Short
units meter true Center of mass of the shape, relative to the vehicle frame

Real Lower Limit: -30.0
Real Upper Limit: 30.0
4 CenterOfMassY Scaled Integer
Integer Size: Unsigned Short
units meter true Center of mass of the shape, relative to the vehicle frame

Real Lower Limit: -30.0
Real Upper Limit: 30.0
5 CenterOfMassZ Scaled Integer
Integer Size: Unsigned Short
units meter true Center of mass of the shape, relative to the vehicle frame

Real Lower Limit: -30.0
Real Upper Limit: 30.0
6 MomentOfInertialTensorXX Float true Moment of inertia of the shape, relative to center of mass, in kilogram meters squared
7 MomentOfInertialTensorXY Float true Moment of inertia of the shape, relative to center of mass, in kilogram meters squared
8 MomentOfInertialTensorXZ Float true Moment of inertia of the shape, relative to center of mass, in kilogram meters squared
9 MomentOfInertialTensorYY Float true Moment of inertia of the shape, relative to center of mass, in kilogram meters squared
10 MomentOfInertialTensorYZ Float true Moment of inertia of the shape, relative to center of mass, in kilogram meters squared
11 MomentOfInertialTensorZZ Float true Moment of inertia of the shape, relative to center of mass, in kilogram meters squared



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