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Home / Iop_v3ServiceSet / MountSiteProperties


Version: 1.1
ID: urn:jaus:jss:exp:aeodrs:MountSiteProperties
Inherits From:
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The Mount Site Properties Service provides a requesting client with a list of the mount site locations and orientations of a mount site host. The Service provides the location and orientation relative to the coordinate frame of the mount site host. These parameters define the origin of the coordinate frame for the child component which coincides with the geometric center of the mechanical interface or bolt pattern. In addition the service looks up the mount site information using the information of the Node ID. This enables each component to obtain the location and orientation of the mount site to which it is attached, which in turn enables the component to report its location (for example, this enables a Visual Sensor to report location within its Geometric Properties, and enables a Manipulator to report its location in its Manipulator Specifications). An IOP system may provide both fixed-location mount sites (such as those provided by the chassis) and dynamic-location mount sites (such as those provided on links of a manipulator). When reporting the coordinates for a dynamic-location mount site the Mount Site Properties Service must report it in the link coordinate frame to which it is statically attached as well as reporting the link index.

Internal Event Set

Message Set
Message ID Name
E701h QueryMountSite
F701h ReportMountSite

State Machine Diagram

MountSiteProperties State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A MountSitePropertiesDefaultLoop QueryMountSite sendReportMountSite

Action Name Type Description
sendReportMountSite Send Action Send a ReportMountSite message
Output Message: ReportMountSite

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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 iop_v3.ojss