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This file is part of the OpenJAUS HTML JAUS Reference. |
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| Home / Iop_v3ServiceSet / ReportCostMap2D | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| ReportCostMap2D | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
 CostMap2DRec |
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| CostMap2DPoseVar |
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| CostMap2DDataVar |
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| Message Format | |||||
|---|---|---|---|---|---|
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | CostMap2DRec | Record | false | ||
| 2 | CostMap2DPoseVar | Variant | varies | false | |
| 3 | CostMap2DDataVar | Variant | varies | false | |
| CostMap2DRec | |||||
|---|---|---|---|---|---|
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | NumberOfRows | Unsigned Short | units one | false | Number of rows in the map data. |
| 2 | NumberOfColumns | Unsigned Short | units one | false | Number of columns in the map data. |
| 3 | MapWidth | Scaled Integer Integer Size: Unsigned Short |
units meter | false | Total width of the cost map. Real Lower Limit: 0.0 Real Upper Limit: 10000.0 |
| 4 | MapHeight | Scaled Integer Integer Size: Unsigned Short |
units meter | false | Total height of the cost map. Real Lower Limit: 0.0 Real Upper Limit: 10000.0 |
| CostMap2DPoseVar | |||||
|---|---|---|---|---|---|
| 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 |
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 |
Real Lower Limit: -3.141592653589793 Real Upper Limit: 3.141592653589793 |
| CostMap2DDataVar | |||||
|---|---|---|---|---|---|
| Type Enum Size: Unsigned Byte | |||||
| Enum Value | Name | Type | Units | Optional | Interpretation |
| 0 | CostDataList | List | false | ||
| 1 | CostAndConfidenceDataList | List | false | ||
| 2 | RunLengthEncodedDataList | List | false | ||
| CostDataList | |||||
|---|---|---|---|---|---|
| Count Field: Unsigned Short | |||||
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | Cost | Unsigned Byte | units one | false | Value 0-254: A value of 0 indicates no cost (no restriction). A value of 254 means maximum cost (non-traversable or no-go zone). A value of 255 means the cost of the cell is known. |
| CostAndConfidenceDataList | |||||
|---|---|---|---|---|---|
| Count Field: Unsigned Short | |||||
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | Cost | Unsigned Byte | units one | false | Value 0-254: A value of 0 indicates no cost (no restriction). A value of 254 means maximum cost (non-traversable or no-go zone). A value of 255 means the cost of the cell is known. |
| 2 | Confidence | Scaled Integer Integer Size: Unsigned Byte |
units one | false | Confidence value associated with the cost of the cell. A value of 0 means there is no confidence in the specified cost (unknown cost). A value of 100 means the cost of the cell is known perfectly. Real Lower Limit: 0.0 Real Upper Limit: 100.0 |
| RunLengthEncodedDataList | |||||
|---|---|---|---|---|---|
| Count Field: Unsigned Short | |||||
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | CostAndRunLength | BitField Integer Size: Unsigned Short |
one | false |
[0, 2] : CostSubField (range: 0 ... 7) 3: CertaintySubField [4, 15] : NumberCellsSubField (range: 0 ... 4095) |
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Copyright © SAE International. Reprinted with Permission. | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Generated on 07/17/2019 from iop_v3.ojss | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||