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Home / Iop_v2ServiceSet / ReportPresetPoseSpecifications

Message ReportPresetPoseSpecifications

Message ID: F0F5h

Description:
This message provides the specifications of the preset poses including the manipulator joints, end effector, pan tilt, and stabilizer (flipper) positions.

ReportPresetPoseSpecifications
PresetPoseSpecificationsList
PresetPoseRec
PresetPositionsList
PresetPositionsRec
PresetPositionsVar

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


PresetPoseSpecificationsList
Count Field: Unsigned Byte
Field # Field Type Units Optional Interpretation
1 PresetPoseRec Record false
2 PresetPositionsList List false


PresetPoseRec
Field # Field Type Units Optional Interpretation
1 PoseID Unsigned Byte units one false
2 PoseName VariableLengthString
Count Size: Unsigned Byte
one false


PresetPositionsList
Count Field: Unsigned Byte
Field # Field Type Units Optional Interpretation
1 PresetPositionsRec Record false
2 PresetPositionsVar Variant varies false


PresetPositionsRec
Field # Field Type Units Optional Interpretation
1 JAUS_ID BitField
Integer Size: Unsigned Integer
one false JAUS ID of the component that the listed preset positions are associated with

[0, 7] : ComponentID (range: 0 ... 255)
[8, 15] : NodeID (range: 0 ... 255)
[16, 31] : SubsystemID (range: 0 ... 65535)


PresetPositionsVar
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 JointPositionList List false
1 EndEffectorPoseRec Record false
2 PanTiltJointPositionRec Record false
3 StabilizerPositionRec Record false


JointPositionList
Count Field: Unsigned Byte
Field # Field Type Units Optional Interpretation
1 JointPosition Variant varies false Scaled integer representing the command position for this joint. Each joint must have a corresponding entry in the list. Units and scale range are based on the joint type.


JointPosition
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 Option0 Scaled Integer
Integer Size: Unsigned Integer
units radians false Real Lower Limit: -25.132741228718345
Real Upper Limit: 25.132741228718345
1 Option1 Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -10.0
Real Upper Limit: 10.0


EndEffectorPoseRec
Field # Field Type Units Optional Interpretation
1 ToolPointCoordinateX Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -30.0
Real Upper Limit: 30.0
2 ToolPointCoordinateY Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -30.0
Real Upper Limit: 30.0
3 ToolPointCoordinateZ Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -30.0
Real Upper Limit: 30.0
4 DComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer
units one false Real Lower Limit: -1.0
Real Upper Limit: 1.0
5 AComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer
units one false Real Lower Limit: -1.0
Real Upper Limit: 1.0
6 BComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer
units one false Real Lower Limit: -1.0
Real Upper Limit: 1.0
7 CComponentOfUnitQuaternionQ Scaled Integer
Integer Size: Unsigned Integer
units one false Real Lower Limit: -1.0
Real Upper Limit: 1.0


PanTiltJointPositionRec
Field # Field Type Units Optional Interpretation
1 Joint1Position Scaled Integer
Integer Size: Unsigned Integer
units radians false Real Lower Limit: -25.132741228718345
Real Upper Limit: 25.132741228718345
2 Joint2Position Scaled Integer
Integer Size: Unsigned Integer
units radians false Real Lower Limit: -25.132741228718345
Real Upper Limit: 25.132741228718345


StabilizerPositionRec
Field # Field Type Units Optional Interpretation
1 StabilizerID Unsigned Byte units one false
2 Position Scaled Integer
Integer Size: Unsigned Short
units radians false Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793



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Generated on 09/25/2017 from iop_v2.ojss