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Home / Iop_v3ServiceSet / ExtendedPrimitiveManipulator


Version: 1.1
ID: urn:jaus:jss:iop:ExtendedPrimitiveManipulator
Inherits From:
extended byurn:jaus:jss:manipulator:PrimitiveManipulator v2.0
extended byurn:jaus:jss:core:Management v1.1
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The Extended Primitive Manipulator Service provides a mechanism for reporting additional per-joint status information not supported by the existing SAE JAUS services. In addition, a query/report pair is added to allow for the specification of a manipulator mounted on another manipulator. The base is therefore defined as the coordinate frame for the specific joint on the host manipulator given by a JAUS ID. Note that when mounted on a host manipulator, the ManipulatorCoordinateSystemRec as reported by the Report Manipulator Specifications messages shall be interpreted as the coordinate transformation from the joint number on the host manipulator, rather than from the vehicle coordinate frame.

Internal Event Set

Message Set
Message ID Name
F292h QueryHostManipulator
F290h QueryJointOperationalParameters
F293h ReportManipulatorHost
F291h ReportOperationalParameters

State Machine Diagram

ExtendedPrimitiveManipulator State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A ExtendedPrimitiveManipulatorDefaultLoop QueryJointOperationalParameters sendReportJointOperationalParameters
QueryHostManipulator sendReportHostManipulator

Action Name Type Description
sendReportHostManipulator Send Action Send a Report Host Manipulator message
Output Message: ReportManipulatorHost
sendReportJointOperationalParameters Send Action Send a Report Joint Operational Parameters message
Output Message: ReportOperationalParameters

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 07/17/2019 from iop_v3.ojss