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Home / Mobility_v1_0ServiceSet / SetLocalPathSegment

Message SetLocalPathSegment

Message ID: 0410h

Description:
This message is used to set the path segment data based on the local coordinate system. A local path segment is defined in this message using three points, P0, P1 and P2 and a weighting factor. For the first path segment, i.e. the first element in a list of path segments, P0 is assumed to be the current location of the platform as defined by Report Local Pose. For each successive path segments, i.e. where the path segment number is greater than zero, P0 is equal to the previous path segment P2. Therefore, for each message, only P1, P2, and a weighting factor must be set in order to define a path segment. Each point is defined in the Local Coordinate System by setting its X, Y, and Z. Both the X and Y are required fields, but the Z field is optional.

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: P1Z
Bit 1: P2Z
Bit 2: PathTolerance
2 P1X Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
3 P1Y Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
4 P1Z Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -10000.0
Real Upper Limit: 35000.0
5 P2X Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
6 P2Y Scaled Integer
Integer Size: Unsigned Integer		 units meter false Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
7 P2Z Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -10000.0
Real Upper Limit: 35000.0
8 WeightingFactor Scaled Integer
Integer Size: Unsigned Short		 units one false Where 0 is a straight line.

Real Lower Limit: 0.0
Real Upper Limit: 500.0
9 PathTolerance Scaled Integer
Integer Size: Unsigned Integer		 units one true A value of 0 is used for infinite tolerance.

Real Lower Limit: 0.0
Real Upper Limit: 100000.0


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