ReportMountSite

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Message ReportMountSite

Message ID: F701h

Description:
This message reports a list of registered mount-site locations and orientations with respect to the coordinate frame of the host node. This list includes either the mount site associated with the given node ID or all available mount-sites.

ReportMountSite

MountSitePropertiesList

CoordinateFrameVariant

LocationRecord

OrientationRecord

Message Format
Field #	Field	Type	Units	Optional	Interpretation
1	MountSitePropertiesList	List		false

MountSitePropertiesList
Count Field: Unsigned Byte
Field #	Field	Type	Units	Optional	Interpretation
1	Presence Vector	Unsigned Byte	one	false	Bit 0: AttachmentID
2	ChildNodeID	Unsigned Byte	units one	false	The JAUS Node ID byte representing the child node that can be mounted at this location.
3	AttachmentID	Unsigned Byte	units one	true	ID of the attachment site which is being reported. The attachment site is associated with the child node. Attachment IDs are defined by the child node.
4	CoordinateFrameVariant	Variant	varies	false
5	LocationRecord	Record		false
6	OrientationRecord	Record		false

CoordinateFrameVariant
Type Enum Size: Unsigned Byte
Enum Value	Name	Type	Units	Optional	Interpretation
0	ModuleFrameVariant	Variant	varies	false
1	LinkFrameRecord	Record		false
2	StabilizerFrameRecord	Record		false
3	AttachmentFrameRecord	Record		false

ModuleFrameVariant
Type Enum Size: Unsigned Byte
Enum Value	Name	Type	Units	Optional	Interpretation

LinkFrameRecord
Field #	Field	Type	Units	Optional	Interpretation
1	LinkIndex	Unsigned Byte	units one	false	Index of the serial manipulator link for the selected coordinate frame.

StabilizerFrameRecord
Field #	Field	Type	Units	Optional	Interpretation
1	StabilizerID	Unsigned Byte	units one	false	ID of the stabilizer which the coordinate frame is representing

AttachmentFrameRecord
Field #	Field	Type	Units	Optional	Interpretation
1	HostNodeID	Unsigned Byte	units one	false	Node ID of the module that hosts the attachment point
2	AttachmentID	Unsigned Byte	units one	false	ID of the attachment which the coordinate frame is representing

LocationRecord
Field #	Field	Type	Units	Optional	Interpretation
1	OffsetX	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: -500.0 Real Upper Limit: 500.0
2	OffsetY	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: -500.0 Real Upper Limit: 500.0
3	OffsetZ	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: -500.0 Real Upper Limit: 500.0

OrientationRecord
Field #	Field	Type	Units	Optional	Interpretation
1	DComponentOfUnitQuaternionQ	Scaled Integer Integer Size: Unsigned Integer	units one	false	Real Lower Limit: -1.0 Real Upper Limit: 1.0
2	AComponentOfUnitQuaternionQ	Scaled Integer Integer Size: Unsigned Integer	units one	false	Real Lower Limit: -1.0 Real Upper Limit: 1.0
3	BComponentOfUnitQuaternionQ	Scaled Integer Integer Size: Unsigned Integer	units one	false	Real Lower Limit: -1.0 Real Upper Limit: 1.0
4	CComponentOfUnitQuaternionQ	Scaled Integer Integer Size: Unsigned Integer	units one	false	Real Lower Limit: -1.0 Real Upper Limit: 1.0

Copyright © SAE International. Reprinted with Permission.
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

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