openjaus::mobility::SetLocalWaypoint Class Reference

SetLocalWaypoint Message Implementation. More...

#include <SetLocalWaypoint.h>

Inherits openjaus::model::Message.

Public Member Functions
	SetLocalWaypoint ()
	SetLocalWaypoint (model::Message *message)
	~SetLocalWaypoint ()
virtual int	to (system::Buffer *dst)
	Pack this message to the given openjaus::system::Buffer. More...
virtual int	from (system::Buffer *src)
	Unpack this message from the given openjaus::system::Buffer. More...
virtual int	length ()
	Get the number of bytes this message would occupy in a serialized buffer. More...
std::string	toXml (unsigned char ojIndentLevel=0) const
	Used to serialize the runtime state of the message to an XML format. More...
std::string	toString () const
	Returns a string populated with the Message name and ID More...
void	setPresenceVector (uint8_t value)
uint8_t	getPresenceVector (void) const
bool	isZEnabled (void) const
void	enableZ (void)
void	disableZ (void)
bool	isRollEnabled (void) const
void	enableRoll (void)
void	disableRoll (void)
bool	isPitchEnabled (void) const
void	enablePitch (void)
void	disablePitch (void)
bool	isYawEnabled (void) const
void	enableYaw (void)
void	disableYaw (void)
bool	isWaypointToleranceEnabled (void) const
void	enableWaypointTolerance (void)
void	disableWaypointTolerance (void)
bool	isPathToleranceEnabled (void) const
void	enablePathTolerance (void)
void	disablePathTolerance (void)
double	getX_m (void)
bool	setX_m (double value)
double	getY_m (void)
bool	setY_m (double value)
double	getZ_m (void)
bool	setZ_m (double value)
double	getRoll_rad (void)
bool	setRoll_rad (double value)
double	getPitch_rad (void)
bool	setPitch_rad (double value)
double	getYaw_rad (void)
bool	setYaw_rad (double value)
double	getWaypointTolerance_m (void)
bool	setWaypointTolerance_m (double value)
double	getPathTolerance (void)
bool	setPathTolerance (double value)
Public Member Functions inherited from openjaus::model::Message
	Message ()
virtual	~Message ()
	Message (Message *message)
int	to (system::Buffer *dst)
	Operation to. More...
int	from (system::Buffer *src)
	Operation from. More...
Public Member Functions inherited from openjaus::transport::Wrapper
	Wrapper ()
virtual	~Wrapper ()
AckNakType	getAckNak () const
	Accessor to get the value of ackNak. More...
bool	setAckNak (AckNakType ackNak)
	Accessor to set value of ackNak. More...
bool	isCompressible () const
	Accessor to get the value of compressible. More...
bool	setCompressible (bool compressible)
	Accessor to set value of compressible. More...
bool	isMustArrive () const
	Accessor to get the value of mustArrive. More...
bool	setMustArrive (bool mustArrive)
	Accessor to set value of mustArrive. More...
uint16_t	getSequenceNumber () const
	Accessor to get the value of sequenceNumber. More...
bool	setSequenceNumber (uint16_t sequenceNumber)
	Accessor to set value of sequenceNumber. More...
WrapperType	getType () const
	Accessor to get the value of type. More...
bool	setType (WrapperType type)
	Accessor to set value of type. More...
Priority	getPriority () const
	Accessor to get the value of priority. More...
bool	setPriority (Priority priority)
	Accessor to set value of priority. More...
BroadcastType	getBroadcastFlag () const
	Accessor to get the value of broadcastFlag. More...
bool	setBroadcastFlag (BroadcastType broadcastFlag)
	Accessor to set value of broadcastFlag. More...
LargeMessageType	getLargeMessageFlag () const
	Accessor to get the value of largeMessageFlag. More...
bool	setLargeMessageFlag (LargeMessageType largeMessageFlag)
	Accessor to set value of largeMessageFlag. More...
const Address &	getDestination () const
	Accessor to get the value of destination. More...
bool	setDestination (const Address &destination)
	Accessor to set value of destination. More...
system::Transportable *	getPayload () const
	Accessor to get the value of payload. More...
bool	setPayload (system::Transportable *payload)
	Accessor to set value of payload. More...
const Address &	getSource () const
	Accessor to get the value of source. More...
bool	setSource (const Address &source)
	Accessor to set value of source. More...
TransportData *	getTransportData () const
	Accessor to get the value of transportData. More...
bool	setTransportData (TransportData *transportData)
	Accessor to set value of transportData. More...
virtual int	prioritizedValue ()
	Operation prioritizedValue. More...
virtual Wrapper *	clone ()
Public Member Functions inherited from openjaus::system::Transportable
virtual	~Transportable ()
	Transportable ()
Public Member Functions inherited from openjaus::system::Prioritized
virtual	~Prioritized ()
Public Member Functions inherited from openjaus::model::Trigger
	Trigger ()
virtual	~Trigger ()
double	getTriggerTimestamp_sec () const
	Accessor to get the value of triggerTimestamp_sec. More...
bool	setTriggerTimestamp_sec (double triggerTimestamp_sec)
	Accessor to set value of triggerTimestamp_sec. More...
uint32_t	getId () const
	Accessor to get the value of id. More...
bool	setId (uint32_t id)
	Accessor to set value of id. More...
std::string	idString ()
	Operation idString. More...

Static Public Attributes
static const uint16_t	ID = 0x040D
static const uint8_t	PV_ALL_FIELDS = 0xFF
static const uint8_t	PV_NO_FIELDS = 0x0
static const uint8_t	PV_Z = 0x1
static const uint8_t	PV_ROLL = 0x2
static const uint8_t	PV_PITCH = 0x4
static const uint8_t	PV_YAW = 0x8
static const uint8_t	PV_WAYPOINTTOLERANCE = 0x10
static const uint8_t	PV_PATHTOLERANCE = 0x20
static const double	X_MIN_VALUE = -100000.0
static const double	X_MAX_VALUE = 100000.0
static const double	Y_MIN_VALUE = -100000.0
static const double	Y_MAX_VALUE = 100000.0
static const double	Z_MIN_VALUE = -100000.0
static const double	Z_MAX_VALUE = 100000.0
static const double	ROLL_MIN_VALUE = -3.141592653589793
static const double	ROLL_MAX_VALUE = 3.141592653589793
static const double	PITCH_MIN_VALUE = -3.141592653589793
static const double	PITCH_MAX_VALUE = 3.141592653589793
static const double	YAW_MIN_VALUE = -3.141592653589793
static const double	YAW_MAX_VALUE = 3.141592653589793
static const double	WAYPOINTTOLERANCE_MIN_VALUE = 0.0
static const double	WAYPOINTTOLERANCE_MAX_VALUE = 100.0
static const double	PATHTOLERANCE_MIN_VALUE = 0.0
static const double	PATHTOLERANCE_MAX_VALUE = 100000.0

Private Attributes
LocalPositionScaledInteger	x_m
LocalPositionScaledInteger	y_m
LocalPositionScaledInteger	z_m
OrientationScaledInteger	roll_rad
OrientationScaledInteger	pitch_rad
OrientationScaledInteger	yaw_rad
WaypointToleranceRefScaledInteger	waypointTolerance_m
PathToleranceRefScaledInteger	pathTolerance
uint8_t	presenceVector

Friends
OPENJAUS_EXPORT friend std::ostream &	operator<< (std::ostream &output, const SetLocalWaypoint &object)
	OStream operator for Message object More...
OPENJAUS_EXPORT friend std::ostream &	operator<< (std::ostream &output, const SetLocalWaypoint *object)
	OStream operator for Message pointer More...

Additional Inherited Members
Protected Member Functions inherited from openjaus::transport::Wrapper
	Wrapper (const Wrapper &wrapper)
Protected Attributes inherited from openjaus::transport::Wrapper
AckNakType	ackNak
bool	compressible
bool	mustArrive
uint16_t	sequenceNumber
WrapperType	type
Priority	priority
BroadcastType	broadcastFlag
LargeMessageType	largeMessageFlag
Address	destination
system::Transportable *	payload
Address	source
TransportData *	transportData
Protected Attributes inherited from openjaus::model::Trigger
double	triggerTimestamp_sec
uint32_t	id

Detailed Description

This message is used to set waypoint data based on the local coordinate system. A local waypoint can have up to six fields to describe it completely. The waypoint is defined in a local coordinate system using the X, Y, and Z fields. The desired orientation of the platform at the waypoint is defined using the roll, pitch, and yaw fields. Only fields 1-3 (presence vector, X, and Y) are required for each waypoint. The presence vector is used to specify if the remaining fields, i.e., Z, roll, pitch, and yaw, are used to further describe each waypoint and the desired orientation at that point.

Constructor & Destructor Documentation

SetLocalWaypoint() [1/2]

openjaus::mobility::SetLocalWaypoint::SetLocalWaypoint

(

)

SetLocalWaypoint() [2/2]

openjaus::mobility::SetLocalWaypoint::SetLocalWaypoint

(

model::Message *

message

)

~SetLocalWaypoint()

openjaus::mobility::SetLocalWaypoint::~SetLocalWaypoint

(

)

Member Function Documentation

disablePathTolerance()

void openjaus::mobility::SetLocalWaypoint::disablePathTolerance

(

void

)

disablePitch()

void openjaus::mobility::SetLocalWaypoint::disablePitch

(

void

)

disableRoll()

void openjaus::mobility::SetLocalWaypoint::disableRoll

(

void

)

disableWaypointTolerance()

void openjaus::mobility::SetLocalWaypoint::disableWaypointTolerance

(

void

)

disableYaw()

void openjaus::mobility::SetLocalWaypoint::disableYaw

(

void

)

disableZ()

void openjaus::mobility::SetLocalWaypoint::disableZ

(

void

)

enablePathTolerance()

void openjaus::mobility::SetLocalWaypoint::enablePathTolerance

(

void

)

enablePitch()

void openjaus::mobility::SetLocalWaypoint::enablePitch

(

void

)

enableRoll()

void openjaus::mobility::SetLocalWaypoint::enableRoll

(

void

)

enableWaypointTolerance()

void openjaus::mobility::SetLocalWaypoint::enableWaypointTolerance

(

void

)

enableYaw()

void openjaus::mobility::SetLocalWaypoint::enableYaw

(

void

)

enableZ()

void openjaus::mobility::SetLocalWaypoint::enableZ

(

void

)

from()

int openjaus::mobility::SetLocalWaypoint::from ( system::Buffer *  src )

virtual

Parameters

[in]

src

- The source openjaus::system::Buffer from which this message will be unpacked.

Returns

The number of bytes unpacked from the source buffer

Reimplemented from openjaus::transport::Wrapper.

getPathTolerance()

double openjaus::mobility::SetLocalWaypoint::getPathTolerance

(

void

)

getPitch_rad()

double openjaus::mobility::SetLocalWaypoint::getPitch_rad

(

void

)

getPresenceVector()

uint8_t openjaus::mobility::SetLocalWaypoint::getPresenceVector

(

void

)

const

getRoll_rad()

double openjaus::mobility::SetLocalWaypoint::getRoll_rad

(

void

)

getWaypointTolerance_m()

double openjaus::mobility::SetLocalWaypoint::getWaypointTolerance_m

(

void

)

getX_m()

double openjaus::mobility::SetLocalWaypoint::getX_m

(

void

)

getY_m()

double openjaus::mobility::SetLocalWaypoint::getY_m

(

void

)

getYaw_rad()

double openjaus::mobility::SetLocalWaypoint::getYaw_rad

(

void

)

getZ_m()

double openjaus::mobility::SetLocalWaypoint::getZ_m

(

void

)

isPathToleranceEnabled()

bool openjaus::mobility::SetLocalWaypoint::isPathToleranceEnabled

(

void

)

const

isPitchEnabled()

bool openjaus::mobility::SetLocalWaypoint::isPitchEnabled

(

void

)

const

isRollEnabled()

bool openjaus::mobility::SetLocalWaypoint::isRollEnabled

(

void

)

const

isWaypointToleranceEnabled()

bool openjaus::mobility::SetLocalWaypoint::isWaypointToleranceEnabled

(

void

)

const

isYawEnabled()

bool openjaus::mobility::SetLocalWaypoint::isYawEnabled

(

void

)

const

isZEnabled()

bool openjaus::mobility::SetLocalWaypoint::isZEnabled

(

void

)

const

length()

int openjaus::mobility::SetLocalWaypoint::length ( void  )

virtual

Returns

The number of bytes this message would occupy in a buffer

Reimplemented from openjaus::model::Message.

setPathTolerance()

bool openjaus::mobility::SetLocalWaypoint::setPathTolerance

(

double

value

)

setPitch_rad()

bool openjaus::mobility::SetLocalWaypoint::setPitch_rad

(

double

value

)

setPresenceVector()

void openjaus::mobility::SetLocalWaypoint::setPresenceVector

(

uint8_t

value

)

setRoll_rad()

bool openjaus::mobility::SetLocalWaypoint::setRoll_rad

(

double

value

)

setWaypointTolerance_m()

bool openjaus::mobility::SetLocalWaypoint::setWaypointTolerance_m

(

double

value

)

setX_m()

bool openjaus::mobility::SetLocalWaypoint::setX_m

(

double

value

)

setY_m()

bool openjaus::mobility::SetLocalWaypoint::setY_m

(

double

value

)

setYaw_rad()

bool openjaus::mobility::SetLocalWaypoint::setYaw_rad

(

double

value

)

setZ_m()

bool openjaus::mobility::SetLocalWaypoint::setZ_m

(

double

value

)

to()

int openjaus::mobility::SetLocalWaypoint::to ( system::Buffer *  dst )

virtual

Parameters

[out]

dst

- The destination openjaus::system::Buffer to which this message will be packed.

Returns

The number of bytes packed into the destination buffer

Reimplemented from openjaus::transport::Wrapper.

toString()

std::string openjaus::mobility::SetLocalWaypoint::toString ( ) const

virtual

Returns

The string

Reimplemented from openjaus::model::Message.

toXml()

std::string openjaus::mobility::SetLocalWaypoint::toXml

(

unsigned char

ojIndentLevel = 0

)

const

Parameters

[in]

ojIndentLevel

- Used to determine how many tabs are inserted per line for pretty formating.

Returns

The serialized XML string

Friends And Related Function Documentation

operator<< [1/2]

OPENJAUS_EXPORT friend std::ostream& operator<< ( std::ostream &  output, const SetLocalWaypoint &  object  )

friend

operator<< [2/2]

OPENJAUS_EXPORT friend std::ostream& operator<< ( std::ostream &  output, const SetLocalWaypoint *  object  )

friend

Member Data Documentation

ID

const uint16_t openjaus::mobility::SetLocalWaypoint::ID = 0x040D

static

pathTolerance

PathToleranceRefScaledInteger openjaus::mobility::SetLocalWaypoint::pathTolerance

private

PATHTOLERANCE_MAX_VALUE

const double openjaus::mobility::SetLocalWaypoint::PATHTOLERANCE_MAX_VALUE = 100000.0

static

PATHTOLERANCE_MIN_VALUE

const double openjaus::mobility::SetLocalWaypoint::PATHTOLERANCE_MIN_VALUE = 0.0

static

PITCH_MAX_VALUE

const double openjaus::mobility::SetLocalWaypoint::PITCH_MAX_VALUE = 3.141592653589793

static

PITCH_MIN_VALUE

const double openjaus::mobility::SetLocalWaypoint::PITCH_MIN_VALUE = -3.141592653589793

static

pitch_rad

OrientationScaledInteger openjaus::mobility::SetLocalWaypoint::pitch_rad

private

presenceVector

uint8_t openjaus::mobility::SetLocalWaypoint::presenceVector

private

PV_ALL_FIELDS

const uint8_t openjaus::mobility::SetLocalWaypoint::PV_ALL_FIELDS = 0xFF

static

PV_NO_FIELDS

const uint8_t openjaus::mobility::SetLocalWaypoint::PV_NO_FIELDS = 0x0

static

PV_PATHTOLERANCE

const uint8_t openjaus::mobility::SetLocalWaypoint::PV_PATHTOLERANCE = 0x20

static

PV_PITCH

const uint8_t openjaus::mobility::SetLocalWaypoint::PV_PITCH = 0x4

static

PV_ROLL

const uint8_t openjaus::mobility::SetLocalWaypoint::PV_ROLL = 0x2

static

PV_WAYPOINTTOLERANCE

const uint8_t openjaus::mobility::SetLocalWaypoint::PV_WAYPOINTTOLERANCE = 0x10

static

PV_YAW

const uint8_t openjaus::mobility::SetLocalWaypoint::PV_YAW = 0x8

static

PV_Z

const uint8_t openjaus::mobility::SetLocalWaypoint::PV_Z = 0x1

static

ROLL_MAX_VALUE

const double openjaus::mobility::SetLocalWaypoint::ROLL_MAX_VALUE = 3.141592653589793

static

ROLL_MIN_VALUE

const double openjaus::mobility::SetLocalWaypoint::ROLL_MIN_VALUE = -3.141592653589793

static

roll_rad

OrientationScaledInteger openjaus::mobility::SetLocalWaypoint::roll_rad

private

waypointTolerance_m

WaypointToleranceRefScaledInteger openjaus::mobility::SetLocalWaypoint::waypointTolerance_m

private

WAYPOINTTOLERANCE_MAX_VALUE

const double openjaus::mobility::SetLocalWaypoint::WAYPOINTTOLERANCE_MAX_VALUE = 100.0

static

WAYPOINTTOLERANCE_MIN_VALUE

const double openjaus::mobility::SetLocalWaypoint::WAYPOINTTOLERANCE_MIN_VALUE = 0.0

static

x_m

LocalPositionScaledInteger openjaus::mobility::SetLocalWaypoint::x_m

private

X_MAX_VALUE

const double openjaus::mobility::SetLocalWaypoint::X_MAX_VALUE = 100000.0

static

X_MIN_VALUE

const double openjaus::mobility::SetLocalWaypoint::X_MIN_VALUE = -100000.0

static

y_m

LocalPositionScaledInteger openjaus::mobility::SetLocalWaypoint::y_m

private

Y_MAX_VALUE

const double openjaus::mobility::SetLocalWaypoint::Y_MAX_VALUE = 100000.0

static

Y_MIN_VALUE

const double openjaus::mobility::SetLocalWaypoint::Y_MIN_VALUE = -100000.0

static

YAW_MAX_VALUE

const double openjaus::mobility::SetLocalWaypoint::YAW_MAX_VALUE = 3.141592653589793

static

YAW_MIN_VALUE

const double openjaus::mobility::SetLocalWaypoint::YAW_MIN_VALUE = -3.141592653589793

static

yaw_rad

OrientationScaledInteger openjaus::mobility::SetLocalWaypoint::yaw_rad

private

z_m

LocalPositionScaledInteger openjaus::mobility::SetLocalWaypoint::z_m

private

Z_MAX_VALUE

const double openjaus::mobility::SetLocalWaypoint::Z_MAX_VALUE = 100000.0

static

Z_MIN_VALUE

const double openjaus::mobility::SetLocalWaypoint::Z_MIN_VALUE = -100000.0

static

---

The documentation for this class was generated from the following files:

• include/openjaus/mobility/Triggers/SetLocalWaypoint.h
• src/openjaus/mobility/Triggers/SetLocalWaypoint.cpp