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Home / Mobility_v1_0ServiceSet / GlobalWaypointDriver


Version: 1.0
ID: urn:jaus:jss:mobility:GlobalWaypointDriver
Inherits From:
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 function of the Global Waypoint Driver is to move the platform given a single target waypoint, desired travel speed, current platform pose and current velocity state. A single waypoint is provided via the Set Global Waypoint message. The waypoint remains unchanged until a new Set Global Waypoint message is received. A waypoint consists of the desired position and orientation of the platform. The second input consists of the desired travel speed. The desired travel speed remains unchanged unless a new Set Travel Speed Message is received. The travel speed may then be changed at any time during waypoint navigation. The travel speed is reset to zero for all transitions from the Ready State.

Internal Event Set

Message Set
Message ID Name
240Ch QueryGlobalWaypoint
240Ah QueryTravelSpeed
440Ch ReportGlobalWaypoint
440Ah ReportTravelSpeed
040Ch SetGlobalWaypoint
040Ah SetTravelSpeed

State Machine Diagram

GlobalWaypointDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
C GwdControlledLoop SetGlobalWaypoint isControllingClient setGlobalWaypoint
A GwdDefaultLoop QueryTravelSpeed sendReportTravelSpeed
QueryGlobalWaypoint waypointExists sendReportGlobalWaypoint
B GwdReadyLoop SetTravelSpeed isControllingClient && waypointExists setTravelSpeed

Action Name Type Description
resetTravelSpeed Exit Action
sendReportGlobalWaypoint Send Action Output Message: ReportGlobalWaypoint
sendReportTravelSpeed Send Action Output Message: ReportTravelSpeed

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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