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Home / MobilityServiceSet / SetGlobalPathSegment

Message SetGlobalPathSegment

Message ID: 040Fh

Description:
This message is used to set the path segment data based on the global coordinate system. A global path segment is defined in this message using three points, P0, P1 and P2 and a weighting factor. For the first path segment, i.e. the first element in a list of path segments, P0 is assumed to be the current location of the platform as defined by Report Global Pose. For each successive path segments, i.e. where the path segment number is greater than zero, P0 is equal to the previous path segment's P2. Therefore, for each message, only P1, P2, and a weighting factor must be set in order to define a path segment. Each point is defined in the Global Coordinate System by setting its Latitude, Longitude and Altitude, as specified by the WGS 84 standard. Both the Latitude and Longitude are required fields, but the Altitude field is optional.

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: P1Altitude
Bit 1: P2Altitude
Bit 2: PathTolerance
2 P1Latitude Scaled Integer
Integer Size: Unsigned Integer
units degrees false Real Lower Limit: -90.0
Real Upper Limit: 90.0
3 P1Longitude Scaled Integer
Integer Size: Unsigned Integer
units degrees false Real Lower Limit: -180.0
Real Upper Limit: 180.0
4 P1Altitude Scaled Integer
Integer Size: Unsigned Integer
units meter true Real Lower Limit: -10000.0
Real Upper Limit: 35000.0
5 P2Latitude Scaled Integer
Integer Size: Unsigned Integer
units degrees false Real Lower Limit: -90.0
Real Upper Limit: 90.0
6 P2Longitude Scaled Integer
Integer Size: Unsigned Integer
units degrees false Real Lower Limit: -180.0
Real Upper Limit: 180.0
7 P2Altitude Scaled Integer
Integer Size: Unsigned Integer
units meter true Real Lower Limit: -10000.0
Real Upper Limit: 35000.0
8 WeightingFactor Scaled Integer
Integer Size: Unsigned Short
units one false Where 0 is a straight line.

Real Lower Limit: 0.0
Real Upper Limit: 500.0
9 PathTolerance Scaled Integer
Integer Size: Unsigned Integer
units one true A value of 0 is used for infinite tolerance.

Real Lower Limit: 0.0
Real Upper Limit: 100000.0



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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.

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