openjaus::ugv::SetAckermannConfiguration Class Reference

SetAckermannConfiguration Message Implementation. More...

#include <SetAckermannConfiguration.h>

Inherits openjaus::model::Message.

Public Member Functions
	SetAckermannConfiguration ()
	SetAckermannConfiguration (model::Message *message)
	~SetAckermannConfiguration ()
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	isMaxSteeringRateEnabled (void) const
void	enableMaxSteeringRate (void)
void	disableMaxSteeringRate (void)
bool	isMaxSteeringTorqueEnabled (void) const
void	enableMaxSteeringTorque (void)
void	disableMaxSteeringTorque (void)
double	getSteeringAngle_rad (void)
bool	setSteeringAngle_rad (double value)
double	getThrottleEffort_percent (void)
bool	setThrottleEffort_percent (double value)
double	getBrakeEffort_percent (void)
bool	setBrakeEffort_percent (double value)
double	getMaxSteeringRate_rps (void)
bool	setMaxSteeringRate_rps (double value)
double	getMaxSteeringTorque_Nm (void)
bool	setMaxSteeringTorque_Nm (double value)
Public Member Functions inherited from openjaus::model::Message
	Message ()
virtual	~Message ()
	Message (Message *message)
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 = 0x0500
static const uint8_t	PV_ALL_FIELDS = 0xFF
static const uint8_t	PV_NO_FIELDS = 0x0
static const uint8_t	PV_MAXSTEERINGRATE = 0x1
static const uint8_t	PV_MAXSTEERINGTORQUE = 0x2
static const double	MAXSTEERINGRATE_MIN_VALUE = 0.0
static const double	MAXSTEERINGRATE_MAX_VALUE = 32.767
static const double	MAXSTEERINGTORQUE_MIN_VALUE = 0.0
static const double	MAXSTEERINGTORQUE_MAX_VALUE = 500.0
static const double	STEERINGANGLE_MIN_VALUE = -1.5707963267948966
static const double	STEERINGANGLE_MAX_VALUE = 1.5707963267948966
static const double	THROTTLEEFFORT_MIN_VALUE = 0.0
static const double	THROTTLEEFFORT_MAX_VALUE = 100.0
static const double	BRAKEEFFORT_MIN_VALUE = 0.0
static const double	BRAKEEFFORT_MAX_VALUE = 100.0

Private Attributes
PlusMinusHalfPiScaledInteger	steeringAngle_rad
PlusEffortScaledInteger	throttleEffort_percent
PlusEffortScaledInteger	brakeEffort_percent
MaxSteeringRateScaledInteger	maxSteeringRate_rps
MaxSteeringTorqueScaledInteger	maxSteeringTorque_Nm
uint8_t	presenceVector

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

Sets Ackermann driver parameters

Constructor & Destructor Documentation

SetAckermannConfiguration() [1/2]

openjaus::ugv::SetAckermannConfiguration::SetAckermannConfiguration

(

)

SetAckermannConfiguration() [2/2]

openjaus::ugv::SetAckermannConfiguration::SetAckermannConfiguration

(

model::Message *

message

)

~SetAckermannConfiguration()

openjaus::ugv::SetAckermannConfiguration::~SetAckermannConfiguration

(

)

Member Function Documentation

disableMaxSteeringRate()

void openjaus::ugv::SetAckermannConfiguration::disableMaxSteeringRate

(

void

)

disableMaxSteeringTorque()

void openjaus::ugv::SetAckermannConfiguration::disableMaxSteeringTorque

(

void

)

enableMaxSteeringRate()

void openjaus::ugv::SetAckermannConfiguration::enableMaxSteeringRate

(

void

)

enableMaxSteeringTorque()

void openjaus::ugv::SetAckermannConfiguration::enableMaxSteeringTorque

(

void

)

from()

int openjaus::ugv::SetAckermannConfiguration::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::model::Message.

getBrakeEffort_percent()

double openjaus::ugv::SetAckermannConfiguration::getBrakeEffort_percent

(

void

)

getMaxSteeringRate_rps()

double openjaus::ugv::SetAckermannConfiguration::getMaxSteeringRate_rps

(

void

)

getMaxSteeringTorque_Nm()

double openjaus::ugv::SetAckermannConfiguration::getMaxSteeringTorque_Nm

(

void

)

getPresenceVector()

uint8_t openjaus::ugv::SetAckermannConfiguration::getPresenceVector

(

void

)

const

getSteeringAngle_rad()

double openjaus::ugv::SetAckermannConfiguration::getSteeringAngle_rad

(

void

)

getThrottleEffort_percent()

double openjaus::ugv::SetAckermannConfiguration::getThrottleEffort_percent

(

void

)

isMaxSteeringRateEnabled()

bool openjaus::ugv::SetAckermannConfiguration::isMaxSteeringRateEnabled

(

void

)

const

isMaxSteeringTorqueEnabled()

bool openjaus::ugv::SetAckermannConfiguration::isMaxSteeringTorqueEnabled

(

void

)

const

length()

int openjaus::ugv::SetAckermannConfiguration::length ( void  )

virtual

Returns

The number of bytes this message would occupy in a buffer

Reimplemented from openjaus::model::Message.

setBrakeEffort_percent()

bool openjaus::ugv::SetAckermannConfiguration::setBrakeEffort_percent

(

double

value

)

setMaxSteeringRate_rps()

bool openjaus::ugv::SetAckermannConfiguration::setMaxSteeringRate_rps

(

double

value

)

setMaxSteeringTorque_Nm()

bool openjaus::ugv::SetAckermannConfiguration::setMaxSteeringTorque_Nm

(

double

value

)

setPresenceVector()

void openjaus::ugv::SetAckermannConfiguration::setPresenceVector

(

uint8_t

value

)

setSteeringAngle_rad()

bool openjaus::ugv::SetAckermannConfiguration::setSteeringAngle_rad

(

double

value

)

setThrottleEffort_percent()

bool openjaus::ugv::SetAckermannConfiguration::setThrottleEffort_percent

(

double

value

)

to()

int openjaus::ugv::SetAckermannConfiguration::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::model::Message.

toString()

std::string openjaus::ugv::SetAckermannConfiguration::toString ( ) const

virtual

Returns

The string

Reimplemented from openjaus::model::Message.

toXml()

std::string openjaus::ugv::SetAckermannConfiguration::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 SetAckermannConfiguration &  object  )

friend

operator<< [2/2]

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

friend

Member Data Documentation

BRAKEEFFORT_MAX_VALUE

const double openjaus::ugv::SetAckermannConfiguration::BRAKEEFFORT_MAX_VALUE = 100.0

static

BRAKEEFFORT_MIN_VALUE

const double openjaus::ugv::SetAckermannConfiguration::BRAKEEFFORT_MIN_VALUE = 0.0

static

brakeEffort_percent

PlusEffortScaledInteger openjaus::ugv::SetAckermannConfiguration::brakeEffort_percent

private

ID

const uint16_t openjaus::ugv::SetAckermannConfiguration::ID = 0x0500

static

MAXSTEERINGRATE_MAX_VALUE

const double openjaus::ugv::SetAckermannConfiguration::MAXSTEERINGRATE_MAX_VALUE = 32.767

static

MAXSTEERINGRATE_MIN_VALUE

const double openjaus::ugv::SetAckermannConfiguration::MAXSTEERINGRATE_MIN_VALUE = 0.0

static

maxSteeringRate_rps

MaxSteeringRateScaledInteger openjaus::ugv::SetAckermannConfiguration::maxSteeringRate_rps

private

MAXSTEERINGTORQUE_MAX_VALUE

const double openjaus::ugv::SetAckermannConfiguration::MAXSTEERINGTORQUE_MAX_VALUE = 500.0

static

MAXSTEERINGTORQUE_MIN_VALUE

const double openjaus::ugv::SetAckermannConfiguration::MAXSTEERINGTORQUE_MIN_VALUE = 0.0

static

maxSteeringTorque_Nm

MaxSteeringTorqueScaledInteger openjaus::ugv::SetAckermannConfiguration::maxSteeringTorque_Nm

private

presenceVector

uint8_t openjaus::ugv::SetAckermannConfiguration::presenceVector

private

PV_ALL_FIELDS

const uint8_t openjaus::ugv::SetAckermannConfiguration::PV_ALL_FIELDS = 0xFF

static

PV_MAXSTEERINGRATE

const uint8_t openjaus::ugv::SetAckermannConfiguration::PV_MAXSTEERINGRATE = 0x1

static

PV_MAXSTEERINGTORQUE

const uint8_t openjaus::ugv::SetAckermannConfiguration::PV_MAXSTEERINGTORQUE = 0x2

static

PV_NO_FIELDS

const uint8_t openjaus::ugv::SetAckermannConfiguration::PV_NO_FIELDS = 0x0

static

STEERINGANGLE_MAX_VALUE

const double openjaus::ugv::SetAckermannConfiguration::STEERINGANGLE_MAX_VALUE = 1.5707963267948966

static

STEERINGANGLE_MIN_VALUE

const double openjaus::ugv::SetAckermannConfiguration::STEERINGANGLE_MIN_VALUE = -1.5707963267948966

static

steeringAngle_rad

PlusMinusHalfPiScaledInteger openjaus::ugv::SetAckermannConfiguration::steeringAngle_rad

private

THROTTLEEFFORT_MAX_VALUE

const double openjaus::ugv::SetAckermannConfiguration::THROTTLEEFFORT_MAX_VALUE = 100.0

static

THROTTLEEFFORT_MIN_VALUE

const double openjaus::ugv::SetAckermannConfiguration::THROTTLEEFFORT_MIN_VALUE = 0.0

static

throttleEffort_percent

PlusEffortScaledInteger openjaus::ugv::SetAckermannConfiguration::throttleEffort_percent

private

---

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

• include/openjaus/ugv/Triggers/SetAckermannConfiguration.h
• src/openjaus/ugv/Triggers/SetAckermannConfiguration.cpp