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

#include <setlocalpose.h>

Inheritance diagram for JAUS::SetLocalPose:

List of all members.

Classes
class	Limits
	Contains constants for limit values of data members of class. More...
class	PresenceVector
	This class contains bit masks for bitwise operations on the presence vector for this message. More...
Public Member Functions
	SetLocalPose (const Address &dest=Address(), const Address &src=Address())
	Constructor, initializes default values.
	SetLocalPose (const SetLocalPose &message)
	Copy constructor.
	~SetLocalPose ()
	Destructor.
bool	SetX (const double value)
	Sets the X and updates the presence vector for the message.
bool	SetY (const double value)
	Sets the Y and updates the presence vector for the message.
bool	SetZ (const double value)
	Sets the altitude and updates the presence vector for the message.
bool	SetPositionRMS (const double value)
	Sets the Position RMS and updates the presence vector for the message.
bool	SetRoll (const double radians)
	Sets the roll and updates the presence vector for the message.
bool	SetPitch (const double radians)
	Sets the pitch value and updates the presence vector for the message.
bool	SetYaw (const double radians)
	Sets the yaw value and updates the presence vector for the message.
bool	SetAttitudeRMS (const double radians)
	Sets the attitude rms value and updates the presence vector for the message.
bool	SetTimeStamp (const Time &time)
	Sets the Time Stamp value and updates the presence vector for the message.
bool	SetPose (const Point3D &position, const Point3D &orientation, const Time &time=Time(true))
	Sets X, Y, Z, Roll, Pitch, Yaw, and Time. Overrides any existing data.
bool	SetPosition (const Point3D &position, const Time &time=Time(true))
	Sets X, Y, Z, and Time. Overrides any existing data.
bool	SetOrientation (const Point3D &orientation, const Time &time=Time(true))
	Sets Roll, Pitch, Yaw, and Time. Overrides any existing data.
bool	AddToPose (const Point3D &position, const Point3D &orientation, const Time &time=Time(true))
	Adds change in X, Y, Z, Roll, Pitch, Yaw to the currently stored local pose and updates the time stamp.
bool	AddToPosition (const Point3D &position, const Time &time=Time(true))
	Adds change in X, Y, Z to the currently stored local pose and updates the time stamp.
bool	AddToOrientation (const Point3D &orientation, const Time &time=Time(true))
	Adds change in Roll, Pitch, Yaw to the currently stored local pose and updates the time stamp.
double	GetX () const
double	GetY () const
double	GetZ () const
double	GetPositionRMS () const
double	GetRoll () const
double	GetPitch () const
double	GetYaw () const
double	GetAttitudeRMS () const
Time	GetTimeStamp () const
virtual bool	IsCommand () const
virtual int	WriteMessageBody (Packet &packet) const
	Writes message payload to the packet.
virtual int	ReadMessageBody (const Packet &packet)
	Reads message payload from the packet.
virtual Message *	Clone () const
virtual UInt	GetPresenceVector () const
virtual UInt	GetPresenceVectorSize () const
virtual UInt	GetPresenceVectorMask () const
virtual UShort	GetMessageCodeOfResponse () const
virtual std::string	GetMessageName () const
virtual void	ClearMessageBody ()
	Clears message payload data.
virtual bool	IsLargeDataSet (const unsigned int maxPayloadSize=1437) const
virtual int	RunTestCase () const
	Runs a test case to validate the message class.
SetLocalPose &	operator= (const SetLocalPose &message)
	Sets equal to.
Protected Attributes
UShort	mPresenceVector
	Bit vector for fields present.
double	mX
	X in meters [-100000, 100000].
double	mY
	Y in meters [-100000, 100000].
double	mZ
	Z in meters [-100000, 100000].
double	mPositionRMS
	Position RMS value in meters [0, 100].
double	mRoll
	Roll in radians [-PI, PI].
double	mPitch
	Pitch in radians [-PI, PI].
double	mYaw
	Yaw in radians [-PI, PI].
double	mAttitudeRMS
	Attitude RMS value in Radians [0, PI].
Time	mTimeStamp
	TimeStamp, a tuple in (ms,sec,min,hour,day)

Detailed 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 coordinate frame as defined in Section 3.1. This allows a client to redefine the origin of the local coordinate frame.

Definition at line 58 of file setlocalpose.h.

Constructor & Destructor Documentation

SetLocalPose::SetLocalPose	(	const Address &	dest = `Address()`,
		const Address &	src = `Address()`
	)

Constructor, initializes default values.

Parameters:

[in]	src	Source ID of message sender.
[in]	dest	Destination ID of message.

Definition at line 64 of file setlocalpose.cpp.

SetLocalPose::SetLocalPose ( const SetLocalPose & message )

Copy constructor.

Definition at line 84 of file setlocalpose.cpp.

SetLocalPose::~SetLocalPose ( )

Destructor.

Definition at line 95 of file setlocalpose.cpp.

Member Function Documentation

bool SetLocalPose::AddToOrientation	(	const Point3D &	orientation,
		const Time &	time = `Time(true)`
	)

Adds change in Roll, Pitch, Yaw to the currently stored local pose and updates the time stamp.

Parameters:

[in]	orientation	Desired delta Roll(X), Pitch(Y), Yaw(Z) stored as a Point3D.
[in]	time	Desired time stamp as a JAUS::Time instance, defaulting to the current time in UTC.

Returns:: true if params are accepted, otherwise false.

Definition at line 492 of file setlocalpose.cpp.

bool SetLocalPose::AddToPose	(	const Point3D &	position,
		const Point3D &	orientation,
		const Time &	time = `Time(true)`
	)

Adds change in X, Y, Z, Roll, Pitch, Yaw to the currently stored local pose and updates the time stamp.

Parameters:

[in]	position	Desired delta X, Y, and Z stored as a Point3D.
[in]	orientation	Desired delta Roll(X), Pitch(Y), Yaw(Z) stored as a Point3D.
[in]	time	Desired time stamp as a JAUS::Time instance, defaulting to the current time in UTC.

Returns:: true if params are accepted, otherwise false.

Definition at line 407 of file setlocalpose.cpp.

bool SetLocalPose::AddToPosition	(	const Point3D &	position,
		const Time &	time = `Time(true)`
	)

Adds change in X, Y, Z to the currently stored local pose and updates the time stamp.

Parameters:

[in]	position	Desired delta X, Y, and Z stored as a Point3D.
[in]	time	Desired time stamp as a JAUS::Time instance, defaulting to the current time in UTC.

Returns:: true if params are accepted, otherwise false.

Definition at line 455 of file setlocalpose.cpp.

void SetLocalPose::ClearMessageBody ( ) [virtual]

Clears message payload data.

Implements JAUS::Message.

Definition at line 660 of file setlocalpose.cpp.

virtual Message* JAUS::SetLocalPose::Clone ( ) const [inline, virtual]

Implements JAUS::Message.

Definition at line 133 of file setlocalpose.h.

double JAUS::SetLocalPose::GetAttitudeRMS ( ) const [inline]

Definition at line 128 of file setlocalpose.h.

virtual UShort JAUS::SetLocalPose::GetMessageCodeOfResponse ( ) const [inline, virtual]

Implements JAUS::Message.

Definition at line 137 of file setlocalpose.h.

virtual std::string JAUS::SetLocalPose::GetMessageName ( ) const [inline, virtual]

Implements JAUS::Message.

Definition at line 138 of file setlocalpose.h.

double JAUS::SetLocalPose::GetPitch ( ) const [inline]

Definition at line 126 of file setlocalpose.h.

double JAUS::SetLocalPose::GetPositionRMS ( ) const [inline]

Definition at line 124 of file setlocalpose.h.

virtual UInt JAUS::SetLocalPose::GetPresenceVector ( ) const [inline, virtual]

Implements JAUS::Message.

Definition at line 134 of file setlocalpose.h.

virtual UInt JAUS::SetLocalPose::GetPresenceVectorMask ( ) const [inline, virtual]

Implements JAUS::Message.

Definition at line 136 of file setlocalpose.h.

virtual UInt JAUS::SetLocalPose::GetPresenceVectorSize ( ) const [inline, virtual]

Implements JAUS::Message.

Definition at line 135 of file setlocalpose.h.

double JAUS::SetLocalPose::GetRoll ( ) const [inline]

Definition at line 125 of file setlocalpose.h.

Time JAUS::SetLocalPose::GetTimeStamp ( ) const [inline]

Definition at line 129 of file setlocalpose.h.

double JAUS::SetLocalPose::GetX ( ) const [inline]

Definition at line 121 of file setlocalpose.h.

double JAUS::SetLocalPose::GetY ( ) const [inline]

Definition at line 122 of file setlocalpose.h.

double JAUS::SetLocalPose::GetYaw ( ) const [inline]

Definition at line 127 of file setlocalpose.h.

double JAUS::SetLocalPose::GetZ ( ) const [inline]

Definition at line 123 of file setlocalpose.h.

virtual bool JAUS::SetLocalPose::IsCommand ( ) const [inline, virtual]

Implements JAUS::Message.

Definition at line 130 of file setlocalpose.h.

virtual bool JAUS::SetLocalPose::IsLargeDataSet ( const unsigned int maxPayloadSize = 1437 ) const [inline, virtual]

Implements JAUS::Message.

Definition at line 140 of file setlocalpose.h.

SetLocalPose & SetLocalPose::operator= ( const SetLocalPose & message )

Sets equal to.

Definition at line 711 of file setlocalpose.cpp.

int SetLocalPose::ReadMessageBody ( const Packet & packet ) [virtual]

Reads message payload from the packet.

Message contents are read from the packet following the JAUS standard.

Parameters:

[in] packet Packet containing message payload data to read.

Returns:: -1 on error, otherwise number of bytes written.

Implements JAUS::Message.

Definition at line 595 of file setlocalpose.cpp.

int SetLocalPose::RunTestCase ( ) const [virtual]

Runs a test case to validate the message class.

Returns:: 1 on success, otherwise 0.

Reimplemented from JAUS::Message.

Definition at line 682 of file setlocalpose.cpp.

bool SetLocalPose::SetAttitudeRMS ( const double radians )

Sets the attitude rms value and updates the presence vector for the message.

Parameters:

[in] radians Desired attitude RMS in radians [0, PI].

Returns:: true on success, otherwise false.

Definition at line 259 of file setlocalpose.cpp.

bool SetLocalPose::SetOrientation	(	const Point3D &	orientation,
		const Time &	time = `Time(true)`
	)

Sets Roll, Pitch, Yaw, and Time. Overrides any existing data.

Parameters:

[in]	orientation	Desired Roll(X), Pitch(Y), Yaw(Z) stored as a Point3D.
[in]	time	Desired Time Stamp as a JAUS::Time instance, defaulting to the current time in UTC.

Returns:: true if params are accepted, otherwise false.

Definition at line 373 of file setlocalpose.cpp.

bool SetLocalPose::SetPitch ( const double radians )

Sets the pitch value and updates the presence vector for the message.

Parameters:

[in] radians Desired pitch in radians[-PI, PI].

Returns:: true on success, otherwise false.

Definition at line 216 of file setlocalpose.cpp.

bool SetLocalPose::SetPose	(	const Point3D &	position,
		const Point3D &	orientation,
		const Time &	time = `Time(true)`
	)

Sets X, Y, Z, Roll, Pitch, Yaw, and Time. Overrides any existing data.

Parameters:

[in]	position	Desired X, Y, Z stored as a Point3D.
[in]	orientation	Desired Roll(X), Pitch(Y), Yaw(Z) stored as a Point3D.
[in]	time	Desired Time Stamp as a JAUS::Time instance, defaulting to the current time in UTC.

Returns:: true if params are accepted, otherwise false.

Definition at line 302 of file setlocalpose.cpp.

bool SetLocalPose::SetPosition	(	const Point3D &	position,
		const Time &	time = `Time(true)`
	)

Sets X, Y, Z, and Time. Overrides any existing data.

Parameters:

[in]	position	Desired X, Y, Z stored as a Point3D.
[in]	time	Desired Time Stamp as a JAUS::Time instance, defaulting to the current time in UTC.

Returns:: true if params are accepted, otherwise false.

Definition at line 342 of file setlocalpose.cpp.

bool SetLocalPose::SetPositionRMS ( const double value )

Sets the Position RMS and updates the presence vector for the message.

Parameters:

[in] value Desired Position RMS in meters [0, 100].

Returns:: true on success, otherwise false.

Definition at line 174 of file setlocalpose.cpp.

bool SetLocalPose::SetRoll ( const double radians )

Sets the roll and updates the presence vector for the message.

Parameters:

[in] radians Desired roll in radians[-PI, PI].

Returns:: true on success, otherwise false.

Definition at line 195 of file setlocalpose.cpp.

bool SetLocalPose::SetTimeStamp ( const Time & time )

Sets the Time Stamp value and updates the presence vector for the message.

Parameters:

[in] time Desired Time Stamp as a JAUS::Time instance.

Returns:: true on success, otherwise false.

Definition at line 281 of file setlocalpose.cpp.

bool SetLocalPose::SetX ( const double value )

Sets the X and updates the presence vector for the message.

Parameters:

[in] value Desired X in meters [-100000,1000000].

Returns:: true on success, otherwise false.

Definition at line 109 of file setlocalpose.cpp.

bool SetLocalPose::SetY ( const double value )

Sets the Y and updates the presence vector for the message.

Parameters:

[in] value Desired Y in meters [-100000,1000000].

Returns:: true on success, otherwise false.

Definition at line 130 of file setlocalpose.cpp.

bool SetLocalPose::SetYaw ( const double radians )

Sets the yaw value and updates the presence vector for the message.

Parameters:

[in] radians Desired pitch in radians[-PI, PI].

Returns:: true on success, otherwise false.

Definition at line 237 of file setlocalpose.cpp.

bool SetLocalPose::SetZ ( const double value )

Sets the altitude and updates the presence vector for the message.

Parameters:

[in] value Desired Z in meters [-100000,1000000].

Returns:: true on success, otherwise false.

Definition at line 152 of file setlocalpose.cpp.

int SetLocalPose::WriteMessageBody ( Packet & packet ) const [virtual]

Writes message payload to the packet.

Message contents are written to the packet following the JAUS standard.

Parameters:

[out] packet Packet to write payload to.

Returns:: -1 on error, otherwise number of bytes written.

Implements JAUS::Message.

Definition at line 527 of file setlocalpose.cpp.

Member Data Documentation

double JAUS::SetLocalPose::mAttitudeRMS [protected]

Attitude RMS value in Radians [0, PI].

Definition at line 152 of file setlocalpose.h.

double JAUS::SetLocalPose::mPitch [protected]

Pitch in radians [-PI, PI].

Definition at line 150 of file setlocalpose.h.

double JAUS::SetLocalPose::mPositionRMS [protected]

Position RMS value in meters [0, 100].

Definition at line 148 of file setlocalpose.h.

UShort JAUS::SetLocalPose::mPresenceVector [protected]

Bit vector for fields present.

Definition at line 144 of file setlocalpose.h.

double JAUS::SetLocalPose::mRoll [protected]

Roll in radians [-PI, PI].

Definition at line 149 of file setlocalpose.h.

Time JAUS::SetLocalPose::mTimeStamp [protected]

TimeStamp, a tuple in (ms,sec,min,hour,day)

Definition at line 153 of file setlocalpose.h.

double JAUS::SetLocalPose::mX [protected]

X in meters [-100000, 100000].

Definition at line 145 of file setlocalpose.h.

double JAUS::SetLocalPose::mY [protected]

Y in meters [-100000, 100000].

Definition at line 146 of file setlocalpose.h.

double JAUS::SetLocalPose::mYaw [protected]

Yaw in radians [-PI, PI].

Definition at line 151 of file setlocalpose.h.

double JAUS::SetLocalPose::mZ [protected]

Z in meters [-100000, 100000].

Definition at line 147 of file setlocalpose.h.

The documentation for this class was generated from the following files:

jaus++/2.0/include/jaus/mobility/sensors/setlocalpose.h
jaus++/2.0/src/jaus/mobility/sensors/setlocalpose.cpp

JAUS::SetLocalPose Class Reference

Classes

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation