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Home / Mobility_v1_0ServiceSet / SetLocalPose

Message SetLocalPose

Message ID: 0403h

Description:
This message is used to set the local pose values. This message specifies the platform's position and orientation with respect to the local cordinate frame as defined in Section 3.1. This allows a client to redefine the origin of the local coordinate frame.

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Short one false Bit 0: X
Bit 1: Y
Bit 2: Z
Bit 3: PositionRms
Bit 4: Roll
Bit 5: Pitch
Bit 6: Yaw
Bit 7: AttitudeRms
Bit 8: TimeStamp
2 X Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
3 Y Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
4 Z Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
5 PositionRms Scaled Integer
Integer Size: Unsigned Integer		 units meter true Real Lower Limit: 0.0
Real Upper Limit: 100.0
6 Roll Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
7 Pitch Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
8 Yaw Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793
9 AttitudeRms Scaled Integer
Integer Size: Unsigned Short		 units radians true Real Lower Limit: 0.0
Real Upper Limit: 3.141592653589793
10 TimeStamp TimeStamp true


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