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Home / Mobility_v1_0ServiceSet / GlobalPoseSensor


Version: 1.0
ID: urn:jaus:jss:mobility:GlobalPoseSensor
Inherits From:
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 function of the Global Pose Sensor is to determine the global position and orientation of the platform. The Report Global Pose message provides the position and orientation of the platform. The position of the platform is given in latitude, longitude, and elevation, in accordance with the WGS 84 standard. Platform orientation is as defined in Section 4 of the JAUS Mobility Service Set Specification.

Internal Event Set

Message Set
Message ID Name
2412h QueryGeomagneticProperty
2402h QueryGlobalPose
4412h ReportGeomagneticProperty
4402h ReportGlobalPose
0412h SetGeomagneticProperty
0402h SetGlobalPose

State Machine Diagram

GlobalPoseSensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B GposControlledLoop SetGlobalPose isControllingClient updateGlobalPose
SetGeomagneticProperty isControllingClient updateGeomagneticProperty
A GposDefaultLoop QueryGlobalPose sendReportGlobalPose
QueryGeomagneticProperty sendReportGeomagneticProperty

Action Name Type Description
sendReportGeomagneticProperty Send Action Output Message: ReportGeomagneticProperty
sendReportGlobalPose Send Action Send Report Global Pose message to the component that sent the query.
Output Message: ReportGlobalPose

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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 as6009-mobility.ojss