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Home / Iop_v3ServiceSet / QueryCostMap2D

Message QueryCostMap2D

Message ID: D738h

Description:
This message is used to query for cost map data. An optional maximum map size may be specified to limit the amount of data returned. If no values are specified, the service may still return a subset of the cost map stored internally, with emphasis on the immediate vicinity of the platform. An optional map center and orientation may be specified. If the map center lies outside the bounds of the known cost map, the data returned should reflect the unknown (zero confidence) elements. If the map center is specified in an unsupported coordinate frame, or the map center is not specified, the returned map should be based on the current vehicle location.

QueryCostMap2D
QueryCostMap2DRec
QueryCostMap2DCenterVar

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: QueryCostMap2DRec
Bit 1: QueryCostMap2DCenterVar
2 QueryCostMap2DRec Record true
3 QueryCostMap2DCenterVar Variant varies true


QueryCostMap2DRec
Field # Field Type Units Optional Interpretation
1 MaxWidth Scaled Integer
Integer Size: Unsigned Short		 units meter false Real Lower Limit: 0.0
Real Upper Limit: 10000.0
2 MaxHeight Scaled Integer
Integer Size: Unsigned Short		 units meter false Real Lower Limit: 0.0
Real Upper Limit: 10000.0


QueryCostMap2DCenterVar
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 CostMap2DGlobalPoseRec Record false
1 CostMap2DLocalPoseRec Record false


CostMap2DGlobalPoseRec
Field # Field Type Units Optional Interpretation
1 MapCenterLatitude Scaled Integer
Integer Size: Unsigned Integer		 units degrees false Real Lower Limit: -90.0
Real Upper Limit: 90.0
2 MapCenterLongitude Scaled Integer
Integer Size: Unsigned Integer		 units degrees false Real Lower Limit: -180.0
Real Upper Limit: 180.0
3 MapRotation Scaled Integer
Integer Size: Unsigned Short		 units radians false Rotation about the global Z axis.

Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793


CostMap2DLocalPoseRec
Field # Field Type Units Optional Interpretation
1 MapCenterX Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
2 MapCenterY Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
3 MapRotation Scaled Integer
Integer Size: Unsigned Short		 units radians false Rotation about the local Z axis.

Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793


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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