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Home / Iop_v3ServiceSet / ReportMountSite

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



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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