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Home / Iop_v3ServiceSet / SetSelfCollisionAvoidancePolicy

Message SetSelfCollisionAvoidancePolicy

Message ID: C521h

Description:
This message is used to set the active behavior for self-collision avoidance; while the operator has primary control of the platform, self-collision avoidance prevents (or attempts to prevent) user actions which may result in damage to the platform.

SetSelfCollisionAvoidancePolicy
SelfCollisionAvoidancePolicyRec
SelfCollisionAvoidanceRec

Message Format
Field # Field Type Units Optional Interpretation
1 SelfCollisionAvoidancePolicyRec Record false
2 SelfCollisionAvoidanceRec Record false


SelfCollisionAvoidancePolicyRec
Field # Field Type Units Optional Interpretation
1 Local_ID Unsigned Byte units one false A request identifier that will be returned in the response message. This field allows the client to coordinate requests and responses.


SelfCollisionAvoidanceRec
Field # Field Type Units Optional Interpretation
1 SelfCollisionAvoidanceState Enumeration
Integer Size: Unsigned Byte		 one false Enumeration Values:
0: DoNothing
1: StopOnPath
2: DeviateFromPathToAvoidCollisions
2 Priority Unsigned Byte units one false The relative priority used to establish precedence when multiple moving objects support self-collision avoidance. Lower values should yield to objects with higher values. Fixed objects, or moving objects that do not support self-collision avoidance, are considered to have maximum priority (255). If two objects have the same priority, the behavior is non-deterministic.


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Generated on 07/17/2019 from iop_v3.ojss