ReportShape

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Message ReportShape

Message ID: FC42h

Description:
This message provides a list of shapes defining the bounding volume of the component. Each shape is represented in the list as a type, parameters, a location, and an orientation defined by a quaternion. The location and orientation records define the coordinate frame transform of the shape with origin coinciding with the geometric center of the shape. The coordinate frame index identifies the parent coordinate frame for the shape. An untransformed cylinder grows in length along the Y axis of its respective coordinate frame.

ReportShape

ShapeList

CoordinateFrameVariant

ShapeLocationRecord

ShapeOrientationRecord

ShapeVariant

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

ShapeList
Count Field: Unsigned Short
Field #	Field	Type	Units	Optional	Interpretation
1	CoordinateFrameVariant	Variant	varies	false
2	ShapeLocationRecord	Record		false
3	ShapeOrientationRecord	Record		false
4	ShapeVariant	Variant	varies	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

ShapeLocationRecord
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

ShapeOrientationRecord
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

ShapeVariant
Type Enum Size: Unsigned Byte
Enum Value	Name	Type	Units	Optional	Interpretation
0	BoxRecord	Record		false
1	CylinderRecord	Record		false
2	SphereRecord	Record		false

BoxRecord
Field #	Field	Type	Units	Optional	Interpretation
1	LengthX	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: 0.0 Real Upper Limit: 10.0
2	LengthY	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: 0.0 Real Upper Limit: 10.0
3	LengthZ	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: 0.0 Real Upper Limit: 10.0

CylinderRecord
Field #	Field	Type	Units	Optional	Interpretation
1	Radius	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: 0.0 Real Upper Limit: 5.0
2	Length	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: 0.0 Real Upper Limit: 10.0

SphereRecord
Field #	Field	Type	Units	Optional	Interpretation
1	Radius	Scaled Integer Integer Size: Unsigned Integer	units meter	false	Real Lower Limit: 0.0 Real Upper Limit: 5.0

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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