jaus++/2.0/include/jaus/mobility/mobilitycodes.h

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#ifndef _JAUS_MOBILITY_MESSAGE_CLASS_CODES_H
#define _JAUS_MOBILITY_MESSAGE_CLASS_CODES_H

#include "jaus/core/types.h"
#include "jaus/mobility/jausmobilitydll.h"
#include <cxutils/math/coordinates.h>
#include <string>

namespace JAUS
{
    typedef CxUtils::Wgs Wgs;           
    typedef CxUtils::Utm Utm;           
    typedef CxUtils::Point3D Point3D;   

    // Command Messages
    const UShort SET_GLOBAL_POSE                                          =   0x0402;  
    const UShort SET_LOCAL_POSE                                           =   0x0403;  
    const UShort SET_WRENCH_EFFORT                                        =   0x0405;  
    const UShort SET_GLOBAL_VECTOR                                        =   0x0407;  
    const UShort SET_LOCAL_VECTOR                                         =   0x0408;  
    const UShort SET_TRAVEL_SPEED                                         =   0x040A;  
    const UShort SET_GLOBAL_WAYPOINT                                      =   0x040C;  
    const UShort SET_LOCAL_WAYPOINT                                       =   0x040D;  
    const UShort SET_GLOBAL_PATH_SEGMENT                                  =   0x040F;  
    const UShort SET_LOCAL_PATH_SEGMENT                                   =   0x0410;  
    const UShort SET_GEOMAGNETIC_PROPERTY                                 =   0x0412;  
    const UShort SET_VELOCITY_COMMAND                                     =   0x0415;  
    const UShort SET_ACCELERATION_LIMIT                                   =   0x0416;  
    const UShort SET_ELEMENT                                              =   0x041A;  
    const UShort DELETE_ELEMENT                                           =   0x041B;  
    const UShort CONFIRM_ELEMENT_REQUEST                                  =   0x041C;  
    const UShort REJECT_ELEMENT_REQUEST                                   =   0x041D;  
    const UShort EXECUTE_LIST                                             =   0x041E;  
    
    // Query Messages.
    const UShort QUERY_GLOBAL_POSE                                        =   0x2402;  
    const UShort QUERY_LOCAL_POSE                                         =   0x2403;  
    const UShort QUERY_VELOCITY_STATE                                     =   0x2404;  
    const UShort QUERY_WRENCH_EFFORT                                      =   0x2405;  
    const UShort QUERY_GLOBAL_VECTOR                                      =   0x2407;  
    const UShort QUERY_LOCAL_VECTOR                                       =   0x2408;  
    const UShort QUERY_TRAVEL_SPEED                                       =   0x240A;  
    const UShort QUERY_GLOBAL_WAYPOINT                                    =   0x240C;  
    const UShort QUERY_LOCAL_WAYPOINT                                     =   0x240D;  
    const UShort QUERY_GLOBAL_PATH_SEGMENT                                =   0x240F;  
    const UShort QUERY_LOCAL_PATH_SEGMENT                                 =   0x2410;  
    const UShort QUERY_GEOMAGNETIC_PROPERTY                               =   0x2412;  
    const UShort QUERY_VELOCITY_COMMAND                                   =   0x2415;  
    const UShort QUERY_ACCELERATION_LIMIT                                 =   0x2416;  
    const UShort QUERY_ACCELERATION_STATE                                 =   0x2417;  
    const UShort QUERY_ELEMENT                                            =   0x241A;  
    const UShort QUERY_ELEMENT_LIST                                       =   0x241B;  
    const UShort QUERY_ELEMENT_COUNT                                      =   0x241C;  
    const UShort QUERY_ACTIVE_ELEMENT                                     =   0x241E;  

    // Inform Messages.
    const UShort REPORT_GLOBAL_POSE                                       =   0x4402;  
    const UShort REPORT_LOCAL_POSE                                        =   0x4403;  
    const UShort REPORT_VELOCITY_STATE                                    =   0x4404;  
    const UShort REPORT_WRENCH_EFFORT                                     =   0x4405;  
    const UShort REPORT_GLOBAL_VECTOR                                     =   0x4407;  
    const UShort REPORT_LOCAL_VECTOR                                      =   0x4408;  
    const UShort REPORT_TRAVEL_SPEED                                      =   0x440A;  
    const UShort REPORT_GLOBAL_WAYPOINT                                   =   0x440C;  
    const UShort REPORT_LOCAL_WAYPOINT                                    =   0x440D;  
    const UShort REPORT_GLOBAL_PATH_SEGMENT                               =   0x440F;  
    const UShort REPORT_LOCAL_PATH_SEGMENT                                =   0x4410;  
    const UShort REPORT_GEOMAGNETIC_PROPERTY                              =   0x4412;  
    const UShort REPORT_VELOCITY_COMMAND                                  =   0x4415;  
    const UShort REPORT_ACCELERATION_LIMIT                                =   0x4416;  
    const UShort REPORT_ACCELERATION_STATE                                =   0x4417;  
    const UShort REPORT_ELEMENT                                           =   0x441A;  
    const UShort REPORT_ELEMENT_LIST                                      =   0x441B;  
    const UShort REPORT_ELEMENT_COUNT                                     =   0x441C;  
    const UShort REPORT_ACTIVE_ELEMENT                                    =   0x441E;  
}

#endif
/*  End of File */