RoboidControl::PoseMsg Class Reference

Detailed Description

Message to communicate the pose of the thing The pose is in local space relative to the parent. If there is not parent (the thing is a root thing), the pose will be in world space.

#include <PoseMsg.h>

Inherits RoboidControl::IMessage.

Public Member Functions
	PoseMsg (unsigned char networkId, Thing *thing, bool force=false)
	Create a new message for sending.
	PoseMsg (const char *buffer)
virtual	~PoseMsg ()
	Destructor for the message.
virtual unsigned char	Serialize (char *buffer) override

Static Public Member Functions
static unsigned char *	ReceiveMsg (unsigned char packetSize)

Public Attributes
unsigned char	length = 4 + 4 + 4
	The length of the message.
unsigned char	networkId
	The network ID of the thing.
unsigned char	thingId
	The ID of the thing.
unsigned char	poseType
	Bit pattern stating which pose components are available.
Spherical	position
	The position of the thing in local space in meters.
SwingTwist	orientation
	The orientation of the thing in local space.
Spherical	linearVelocity
	The linear velocity of the thing in local space in meters per second.
Spherical	angularVelocity
	The angular velocity of the thing in local space.

Static Public Attributes
static const unsigned char	id = 0x10
	The message ID.
static const unsigned char	Pose_Position = 0x01
	Bit pattern for a pose with position.
static const unsigned char	Pose_Orientation = 0x02
	Bit pattern for a pose with orientation.
static const unsigned char	Pose_LinearVelocity = 0x04
	Bit pattern for a pose with linear velocity.
static const unsigned char	Pose_AngularVelocity = 0x08
	Bit pattern for a pose with angular velocity.

Constructor & Destructor Documentation

PoseMsg() [1/2]

RoboidControl::PoseMsg::PoseMsg	(	unsigned char	networkId,
		Thing *	thing,
		bool	force = false
	)

Create a new message for sending.

Parameters

networkId	he network ID of the thing
thing	The thing for which the pose shouldbe sent

PoseMsg() [2/2]

RoboidControl::PoseMsg::PoseMsg

(

const char *

buffer

)

Member Function Documentation

Serialize()

unsigned char RoboidControl::PoseMsg::Serialize ( char *  buffer )

overridevirtual