OpenJAUS.com

This file is part of the OpenJAUS HTML JAUS Reference.
Please support AS-4 JAUS and SAE by purchasing the corresponding Standard Document(s) from SAE International here.

Home / MobilityServiceSet / SetWrenchEffort

Message SetWrenchEffort

Message ID: 0405h

Description:
This message is used to provide open-loop mobility control in the coordinate frame defined in Section 3.1. The consists of a six element propulsive wrench and a six element resistive wrench. The six elements of each wrench down into three linear elements and three rotational elements, which are mapped to the three axis orthogonal coordinate frame of the vehicle. All elements of the Wrench message are not necessarily applicable to a particular platform.

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Short one false Bit 0: PropulsiveLinearEffortX
Bit 1: PropulsiveLinearEffortY
Bit 2: PropulsiveLinearEffortZ
Bit 3: PropulsiveRotationalEffortX
Bit 4: PropulsiveRotationalEffortY
Bit 5: PropulsiveRotationalEffortZ
Bit 6: ResistiveLinearEffortX
Bit 7: ResistiveLinearEffortY
Bit 8: ResistiveLinearEffortZ
Bit 9: ResistiveRotationalEffortX
Bit 10: ResistiveRotationalEffortY
Bit 11: ResistiveRotationalEffortZ
2 PropulsiveLinearEffortX Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
3 PropulsiveLinearEffortY Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
4 PropulsiveLinearEffortZ Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
5 PropulsiveRotationalEffortX Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
6 PropulsiveRotationalEffortY Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
7 PropulsiveRotationalEffortZ Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: -100.0
Real Upper Limit: 100.0
8 ResistiveLinearEffortX Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0
9 ResistiveLinearEffortY Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0
10 ResistiveLinearEffortZ Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0
11 ResistiveRotationalEffortX Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0
12 ResistiveRotationalEffortY Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0
13 ResistiveRotationalEffortZ Scaled Integer
Integer Size: Unsigned Short
units percent true Real Lower Limit: 0.0
Real Upper Limit: 100.0



OpenJAUS.com

Copyright © SAE International. Reprinted with Permission.
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