This message is used to set waypoint data based on the local coordinate system. A local waypoint can have up to six fields to describe it completely. The waypoint is defined in the global coordinate system using the X, Y, and Z fields. The desired orientation of the platform at the waypoint is defined using the roll, pitch, and yaw fields. Only fields 1-3 (presence vector, latitude, and longitude are required for each waypoint. The presence vector is used to specify if the remaining fields, i.e., Z, roll, pitch, and yaw, are used to further describe orientation at that point. More...
#include <setlocalwaypoint.h>
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 | |
| SetLocalWaypoint (const Address &dest=Address(), const Address &src=Address()) | |
| Constructor, initializes default values. | |
| SetLocalWaypoint (const SetLocalWaypoint &message) | |
| Copy constructor. | |
| ~SetLocalWaypoint () | |
| Destructor. | |
| bool | SetX (const double value) |
| Sets the latitude and updates the presence vector for the message. | |
| bool | SetY (const double value) |
| Sets the longitude 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 | 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 | SetWaypointTolerance (const double value) |
| Sets the waypoint tolerance value and updates the presence vector for the message. | |
| bool | SetPathTolerance (const double value) |
| Sets the path tolerance value and updates the presence vector for the message. | |
| double | GetX () const |
| double | GetY () const |
| double | GetZ () const |
| double | GetRoll () const |
| double | GetPitch () const |
| double | GetYaw () const |
| double | GetWaypointTolerance () const |
| double | GetPathTolerance () 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. | |
| void | PrintMessageBody () const |
| Prints data to console. | |
| SetLocalWaypoint & | operator= (const SetLocalWaypoint &message) |
| Sets equal to. | |
Protected Attributes | |
| Byte | 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 | mRoll |
| Roll in radians [-PI, PI]. | |
| double | mPitch |
| Pitch in radians [-PI, PI]. | |
| double | mYaw |
| Yaw in radians [-PI, PI]. | |
| double | mWaypointTolerance |
| Waypoint tolerance in meters [0, 100]. | |
| double | mPathTolerance |
| Path tolerance in meters [0, 10000], 0 used for infinite tolerance. | |
This message is used to set waypoint data based on the local coordinate system. A local waypoint can have up to six fields to describe it completely. The waypoint is defined in the global coordinate system using the X, Y, and Z fields. The desired orientation of the platform at the waypoint is defined using the roll, pitch, and yaw fields. Only fields 1-3 (presence vector, latitude, and longitude are required for each waypoint. The presence vector is used to specify if the remaining fields, i.e., Z, roll, pitch, and yaw, are used to further describe orientation at that point.
Definition at line 63 of file setlocalwaypoint.h.
| SetLocalWaypoint::SetLocalWaypoint | ( | const Address & | dest = Address(), |
| const Address & | src = Address() |
||
| ) |
Constructor, initializes default values.
| [in] | src | Source ID of message sender. |
| [in] | dest | Destination ID of message. |
Definition at line 65 of file setlocalwaypoint.cpp.
| SetLocalWaypoint::SetLocalWaypoint | ( | const SetLocalWaypoint & | message ) |
Copy constructor.
Definition at line 84 of file setlocalwaypoint.cpp.
| SetLocalWaypoint::~SetLocalWaypoint | ( | ) |
Destructor.
Definition at line 95 of file setlocalwaypoint.cpp.
| void SetLocalWaypoint::ClearMessageBody | ( | ) | [virtual] |
Clears message payload data.
Implements JAUS::Message.
Definition at line 392 of file setlocalwaypoint.cpp.
| virtual Message* JAUS::SetLocalWaypoint::Clone | ( | ) | const [inline, virtual] |
Implements JAUS::Message.
Definition at line 123 of file setlocalwaypoint.h.
| virtual UShort JAUS::SetLocalWaypoint::GetMessageCodeOfResponse | ( | ) | const [inline, virtual] |
Implements JAUS::Message.
Definition at line 127 of file setlocalwaypoint.h.
| virtual std::string JAUS::SetLocalWaypoint::GetMessageName | ( | ) | const [inline, virtual] |
Implements JAUS::Message.
Definition at line 128 of file setlocalwaypoint.h.
| double JAUS::SetLocalWaypoint::GetPathTolerance | ( | ) | const [inline] |
Definition at line 119 of file setlocalwaypoint.h.
| double JAUS::SetLocalWaypoint::GetPitch | ( | ) | const [inline] |
Definition at line 116 of file setlocalwaypoint.h.
| virtual UInt JAUS::SetLocalWaypoint::GetPresenceVector | ( | ) | const [inline, virtual] |
Implements JAUS::Message.
Definition at line 124 of file setlocalwaypoint.h.
| virtual UInt JAUS::SetLocalWaypoint::GetPresenceVectorMask | ( | ) | const [inline, virtual] |
Implements JAUS::Message.
Definition at line 126 of file setlocalwaypoint.h.
| virtual UInt JAUS::SetLocalWaypoint::GetPresenceVectorSize | ( | ) | const [inline, virtual] |
Implements JAUS::Message.
Definition at line 125 of file setlocalwaypoint.h.
| double JAUS::SetLocalWaypoint::GetRoll | ( | ) | const [inline] |
Definition at line 115 of file setlocalwaypoint.h.
| double JAUS::SetLocalWaypoint::GetWaypointTolerance | ( | ) | const [inline] |
Definition at line 118 of file setlocalwaypoint.h.
| double JAUS::SetLocalWaypoint::GetX | ( | ) | const [inline] |
Definition at line 112 of file setlocalwaypoint.h.
| double JAUS::SetLocalWaypoint::GetY | ( | ) | const [inline] |
Definition at line 113 of file setlocalwaypoint.h.
| double JAUS::SetLocalWaypoint::GetYaw | ( | ) | const [inline] |
Definition at line 117 of file setlocalwaypoint.h.
| double JAUS::SetLocalWaypoint::GetZ | ( | ) | const [inline] |
Definition at line 114 of file setlocalwaypoint.h.
| virtual bool JAUS::SetLocalWaypoint::IsCommand | ( | ) | const [inline, virtual] |
Implements JAUS::Message.
Definition at line 120 of file setlocalwaypoint.h.
| virtual bool JAUS::SetLocalWaypoint::IsLargeDataSet | ( | const unsigned int | maxPayloadSize = 1437 ) |
const [inline, virtual] |
Implements JAUS::Message.
Definition at line 130 of file setlocalwaypoint.h.
| SetLocalWaypoint & SetLocalWaypoint::operator= | ( | const SetLocalWaypoint & | message ) |
Sets equal to.
Definition at line 464 of file setlocalwaypoint.cpp.
| void SetLocalWaypoint::PrintMessageBody | ( | ) | const [virtual] |
Prints data to console.
Reimplemented from JAUS::Message.
Definition at line 441 of file setlocalwaypoint.cpp.
| int SetLocalWaypoint::ReadMessageBody | ( | const Packet & | packet ) | [virtual] |
Reads message payload from the packet.
Message contents are read from the packet following the JAUS standard.
| [in] | packet | Packet containing message payload data to read. |
Implements JAUS::Message.
Definition at line 339 of file setlocalwaypoint.cpp.
| int SetLocalWaypoint::RunTestCase | ( | ) | const [virtual] |
Runs a test case to validate the message class.
Reimplemented from JAUS::Message.
Definition at line 413 of file setlocalwaypoint.cpp.
| bool SetLocalWaypoint::SetPathTolerance | ( | const double | value ) |
Sets the path tolerance value and updates the presence vector for the message.
| [in] | value | Desired path tolerance in meters[0, 100000]. |
Definition at line 257 of file setlocalwaypoint.cpp.
| bool SetLocalWaypoint::SetPitch | ( | const double | radians ) |
Sets the pitch value and updates the presence vector for the message.
| [in] | radians | Desired pitch in radians[-PI, PI]. |
Definition at line 192 of file setlocalwaypoint.cpp.
| bool SetLocalWaypoint::SetRoll | ( | const double | radians ) |
Sets the roll and updates the presence vector for the message.
| [in] | radians | Desired roll in radians[-PI, PI]. |
Definition at line 171 of file setlocalwaypoint.cpp.
| bool SetLocalWaypoint::SetWaypointTolerance | ( | const double | value ) |
Sets the waypoint tolerance value and updates the presence vector for the message.
| [in] | value | Desired waypoint tolerance in meters[0, 100]. |
Definition at line 235 of file setlocalwaypoint.cpp.
| bool SetLocalWaypoint::SetX | ( | const double | value ) |
Sets the latitude and updates the presence vector for the message.
| [in] | value | Desired X in meters [-100000, 100000]. |
Definition at line 109 of file setlocalwaypoint.cpp.
| bool SetLocalWaypoint::SetY | ( | const double | value ) |
Sets the longitude and updates the presence vector for the message.
| [in] | value | Desired Y in meters [-100000, 100000]. |
Definition at line 129 of file setlocalwaypoint.cpp.
| bool SetLocalWaypoint::SetYaw | ( | const double | radians ) |
Sets the yaw value and updates the presence vector for the message.
| [in] | radians | Desired pitch in radians[-PI, PI]. |
Definition at line 213 of file setlocalwaypoint.cpp.
| bool SetLocalWaypoint::SetZ | ( | const double | value ) |
Sets the altitude and updates the presence vector for the message.
| [in] | value | Desired Z in meters [-100000, 100000]. |
Definition at line 150 of file setlocalwaypoint.cpp.
| int SetLocalWaypoint::WriteMessageBody | ( | Packet & | packet ) | const [virtual] |
Writes message payload to the packet.
Message contents are written to the packet following the JAUS standard.
| [out] | packet | Packet to write payload to. |
Implements JAUS::Message.
Definition at line 280 of file setlocalwaypoint.cpp.
double JAUS::SetLocalWaypoint::mPathTolerance [protected] |
Path tolerance in meters [0, 10000], 0 used for infinite tolerance.
Definition at line 143 of file setlocalwaypoint.h.
double JAUS::SetLocalWaypoint::mPitch [protected] |
Pitch in radians [-PI, PI].
Definition at line 140 of file setlocalwaypoint.h.
Byte JAUS::SetLocalWaypoint::mPresenceVector [protected] |
Bit vector for fields present.
Definition at line 135 of file setlocalwaypoint.h.
double JAUS::SetLocalWaypoint::mRoll [protected] |
Roll in radians [-PI, PI].
Definition at line 139 of file setlocalwaypoint.h.
double JAUS::SetLocalWaypoint::mWaypointTolerance [protected] |
Waypoint tolerance in meters [0, 100].
Definition at line 142 of file setlocalwaypoint.h.
double JAUS::SetLocalWaypoint::mX [protected] |
X in meters [-100000, 100000].
Definition at line 136 of file setlocalwaypoint.h.
double JAUS::SetLocalWaypoint::mY [protected] |
Y in meters [-100000, 100000].
Definition at line 137 of file setlocalwaypoint.h.
double JAUS::SetLocalWaypoint::mYaw [protected] |
Yaw in radians [-PI, PI].
Definition at line 141 of file setlocalwaypoint.h.
double JAUS::SetLocalWaypoint::mZ [protected] |
Z in meters [-100000, 100000].
Definition at line 138 of file setlocalwaypoint.h.
1.7.2
