jaus++/2.0/include/jaus/mobility/sensors/querylocalpose.h
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00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 00021 00022 00023 00024 00025 00026 00027 00028 00029 00030 00031 00032 00033 00034 00035 00036 00037 00038 00039 00040 #ifndef __JAUS_MOBILITY_QUERY_LOCAL_POSE__H 00041 #define __JAUS_MOBILITY_QUERY_LOCAL_POSE__H 00042 00043 #include "jaus/core/message.h" 00044 #include "jaus/mobility/mobilitycodes.h" 00045 00046 namespace JAUS 00047 { 00059 class JAUS_MOBILITY_DLL QueryLocalPose : public Message 00060 { 00061 public: 00069 class JAUS_MOBILITY_DLL PresenceVector : public JAUS::PresenceVector 00070 { 00071 public: 00072 const static UShort X = 0x0001; 00073 const static UShort Y = 0x0002; 00074 const static UShort Z = 0x0004; 00075 const static UShort PositionRMS = 0x0008; 00076 const static UShort Roll = 0x0010; 00077 const static UShort Pitch = 0x0020; 00078 const static UShort Yaw = 0x0040; 00079 const static UShort AttitudeRMS = 0x0080; 00080 const static UShort TimeStamp = 0x0100; 00081 }; 00082 QueryLocalPose(const Address& dest = Address(), const Address& src = Address()); 00083 QueryLocalPose(const QueryLocalPose& message); 00084 ~QueryLocalPose(); 00085 void SetPresenceVector(const UShort presenceVector) { mPresenceVector = presenceVector; } 00086 virtual bool IsCommand() const { return false; } 00087 virtual int WriteMessageBody(Packet& packet) const; 00088 virtual int ReadMessageBody(const Packet& packet); 00089 virtual Message* Clone() const { return new QueryLocalPose(*this); } 00090 virtual UInt GetPresenceVector() const { return mPresenceVector; } 00091 virtual UInt GetPresenceVectorSize() const { return USHORT_SIZE; } 00092 virtual UInt GetPresenceVectorMask() const { return 0x01FF; } 00093 virtual UShort GetMessageCodeOfResponse() const { return REPORT_LOCAL_POSE; } 00094 virtual std::string GetMessageName() const { return "Query Local Pose"; } 00095 virtual void ClearMessageBody(); 00096 virtual bool IsLargeDataSet(const unsigned int maxPayloadSize = 1437) const { return false; } 00097 virtual int RunTestCase() const; 00098 QueryLocalPose& operator=(const QueryLocalPose& message); 00099 protected: 00100 UShort mPresenceVector; 00101 }; 00102 } 00103 00104 #endif 00105 /* End of File */
