This file is part of the OpenJAUS HTML JAUS Reference.
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This file is part of the OpenJAUS HTML JAUS Reference. |
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| Home / Iop_v3ServiceSet / ReportPresetPoseSpecifications | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| ReportPresetPoseSpecifications | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
 PresetPoseSpecificationsList |
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| PresetPoseRec |
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| PresetPositionsList |
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| PresetPositionsRec |
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| PresetPositionsVar |
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| Message Format | |||||
|---|---|---|---|---|---|
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | PresetPoseSpecificationsList | List | false | ||
| PresetPoseSpecificationsList | |||||
|---|---|---|---|---|---|
| Count Field: Unsigned Byte | |||||
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | PresetPoseRec | Record | false | ||
| 2 | PresetPositionsList | List | false | ||
| PresetPoseRec | |||||
|---|---|---|---|---|---|
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | PoseID | Unsigned Byte | units one | false | |
| 2 | PoseName | VariableLengthString Count Size: Unsigned Byte |
one | false | |
| PresetPositionsList | |||||
|---|---|---|---|---|---|
| Count Field: Unsigned Byte | |||||
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | PresetPositionsRec | Record | false | ||
| 2 | PresetPositionsVar | Variant | varies | false | |
| PresetPositionsRec | |||||
|---|---|---|---|---|---|
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | JAUS_ID | BitField Integer Size: Unsigned Integer |
one | false | JAUS ID of the component that the listed preset positions are associated with [0, 7] : ComponentID (range: 0 ... 255) [8, 15] : NodeID (range: 0 ... 255) [16, 31] : SubsystemID (range: 0 ... 65535) |
| PresetPositionsVar | |||||
|---|---|---|---|---|---|
| Type Enum Size: Unsigned Byte | |||||
| Enum Value | Name | Type | Units | Optional | Interpretation |
| 0 | JointPositionList | List | false | ||
| 1 | EndEffectorPoseRec | Record | false | ||
| 2 | PanTiltJointPositionRec | Record | false | ||
| 3 | StabilizerPositionRec | Record | false | ||
| JointPositionList | |||||
|---|---|---|---|---|---|
| Count Field: Unsigned Byte | |||||
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | JointPosition | VariableField | false | Scaled integer representing the command position for this joint. Each joint must have a corresponding entry in the list. Units and scale range are based on the joint type. | |
| EndEffectorPoseRec | |||||
|---|---|---|---|---|---|
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | ToolPointCoordinateX | Scaled Integer Integer Size: Unsigned Integer |
units meter | false |
Real Lower Limit: -30.0 Real Upper Limit: 30.0 |
| 2 | ToolPointCoordinateY | Scaled Integer Integer Size: Unsigned Integer |
units meter | false |
Real Lower Limit: -30.0 Real Upper Limit: 30.0 |
| 3 | ToolPointCoordinateZ | Scaled Integer Integer Size: Unsigned Integer |
units meter | false |
Real Lower Limit: -30.0 Real Upper Limit: 30.0 |
| 4 | DComponentOfUnitQuaternionQ | Scaled Integer Integer Size: Unsigned Integer |
units one | false |
Real Lower Limit: -1.0 Real Upper Limit: 1.0 |
| 5 | AComponentOfUnitQuaternionQ | Scaled Integer Integer Size: Unsigned Integer |
units one | false |
Real Lower Limit: -1.0 Real Upper Limit: 1.0 |
| 6 | BComponentOfUnitQuaternionQ | Scaled Integer Integer Size: Unsigned Integer |
units one | false |
Real Lower Limit: -1.0 Real Upper Limit: 1.0 |
| 7 | CComponentOfUnitQuaternionQ | Scaled Integer Integer Size: Unsigned Integer |
units one | false |
Real Lower Limit: -1.0 Real Upper Limit: 1.0 |
| PanTiltJointPositionRec | |||||
|---|---|---|---|---|---|
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | Joint1Position | Scaled Integer Integer Size: Unsigned Integer |
units radians | false |
Real Lower Limit: -25.132741228718345 Real Upper Limit: 25.132741228718345 |
| 2 | Joint2Position | Scaled Integer Integer Size: Unsigned Integer |
units radians | false |
Real Lower Limit: -25.132741228718345 Real Upper Limit: 25.132741228718345 |
| StabilizerPositionRec | |||||
|---|---|---|---|---|---|
| Field # | Field | Type | Units | Optional | Interpretation |
| 1 | StabilizerID | Unsigned Byte | units one | false | |
| 2 | Position | Scaled Integer Integer Size: Unsigned Short |
units radians | false |
Real Lower Limit: -3.141592653589793 Real Upper Limit: 3.141592653589793 |
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Copyright © SAE International. Reprinted with Permission. | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Generated on 07/17/2019 from iop_v3.ojss | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||