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Home / Environment_v1_0ServiceSet / ReportVisualSensorGeometricProperties

Message ReportVisualSensorGeometricProperties

Message ID: 4805h

Description:
This message is used to report information about the geometric properties of a sensor with respect to the vehicle. Three possible use cases are supported: 1.The sensor has no knowledge of its geometric properties. 2.The sensor is rigidly mounted to the vehicle and the position and orientation with respect to the vehicle coordinate system is known. In this case the position and orientation of the sensor is defined by a position vector (x, y, z) and unit quaternion (d; a, b, c) which specifies the axis and angle of rotation used to establish the orientation of the sensor coordinate system with respect to the vehicle coordinate system. 3.The sensor is mounted to a manipulator in which the JAUS ID, joint number and the sensor offset are described. In this case the position and orientation of the sensor is defined by a position vector (x, y, z) and unit quaternion (d; a, b, c) which specifies the axis and angle of rotation used to establish the orientation of the sensor coordinate system with respect to the link coordinate system.

ReportVisualSensorGeometricProperties
GeometricPropertiesList
SensorIdRec
GeometricPropertiesVariant

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


GeometricPropertiesList
Count Field: Unsigned Short
Field # Field Type Units Optional Interpretation
1 SensorIdRec Record false
2 GeometricPropertiesVariant Variant varies false


SensorIdRec
Field # Field Type Units Optional Interpretation
1 SensorID Unsigned Short units one false


GeometricPropertiesVariant
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 NoGeometricPropertiesVariant Variant varies false
1 StaticGeometricPropertiesRec Record false
2 ManipulatorGeometricPropertiesRec Record false


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


StaticGeometricPropertiesRec
Field # Field Type Units Optional Interpretation
1 SensorPosition Array
ScaledInteger[3]
 units_meter false
2 UnitQuaternion Array
ScaledInteger[4]
 units_one false


ManipulatorGeometricPropertiesRec
Field # Field Type Units Optional Interpretation
1 SubsystemID Unsigned Short units one false
2 NodeID Unsigned Byte units one false
3 ComponentID Unsigned Byte units one false
4 JointNumber Unsigned Byte units one false
5 SensorPosition Array
ScaledInteger[3]
 units_meter false
6 UnitQuaternion Array
ScaledInteger[4]
 units_one false


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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.

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