Cpp/_pose_msg_8h_source.html

#include "Messages.h"


namespace Passer {

namespace RoboidControl {


class PoseMsg : public IMessage {

 public:

  static const unsigned char id = 0x10;

  unsigned char length = 4 + 4 + 4;


  unsigned char networkId;

  unsigned char thingId;


  unsigned char poseType;

  static const unsigned char Pose_Position = 0x01;

  static const unsigned char Pose_Orientation = 0x02;

  static const unsigned char Pose_LinearVelocity = 0x04;

  static const unsigned char Pose_AngularVelocity = 0x08;


  Spherical16 position;

  SwingTwist16 orientation;

  Spherical16 linearVelocity;

  Spherical16 angularVelocity;


  PoseMsg(unsigned char networkId,

          unsigned char thingId,

          unsigned char poseType,

          Spherical16 position,

          SwingTwist16 orientation,

          Spherical16 linearVelocity = Spherical16(),

          Spherical16 angularVelocity = Spherical16());

  PoseMsg(const char* buffer);

  virtual ~PoseMsg();


  virtual unsigned char Serialize(char* buffer) override;

};


}  // namespace RoboidControl

}  // namespace Passer

Passer::RoboidControl::IMessage
Root structure for all communcation messages.
Definition Messages.h:12

Passer::RoboidControl::PoseMsg
Message to communicate the pose of the thing The pose is in local space relative to the parent....
Definition PoseMsg.h:9

Passer::RoboidControl::PoseMsg::linearVelocity
Spherical16 linearVelocity
The linear velocity of the thing in local space in meters per second.
Definition PoseMsg.h:37

Passer::RoboidControl::PoseMsg::~PoseMsg
virtual ~PoseMsg()
Destructor for the message.
Definition PoseMsg.cpp:26

Passer::RoboidControl::PoseMsg::networkId
unsigned char networkId
The network ID of the thing.
Definition PoseMsg.h:17

Passer::RoboidControl::PoseMsg::orientation
SwingTwist16 orientation
The orientation of the thing in local space.
Definition PoseMsg.h:35

Passer::RoboidControl::PoseMsg::thingId
unsigned char thingId
The ID of the thing.
Definition PoseMsg.h:19

Passer::RoboidControl::PoseMsg::Pose_Position
static const unsigned char Pose_Position
Bit pattern for a pose with position.
Definition PoseMsg.h:24

Passer::RoboidControl::PoseMsg::position
Spherical16 position
The position of the thing in local space in meters.
Definition PoseMsg.h:33

Passer::RoboidControl::PoseMsg::Pose_LinearVelocity
static const unsigned char Pose_LinearVelocity
Bit pattern for a pose with linear velocity.
Definition PoseMsg.h:28

Passer::RoboidControl::PoseMsg::length
unsigned char length
The length of the message.
Definition PoseMsg.h:14

Passer::RoboidControl::PoseMsg::angularVelocity
Spherical16 angularVelocity
The angular velocity of the thing in local space.
Definition PoseMsg.h:39

Passer::RoboidControl::PoseMsg::Serialize
virtual unsigned char Serialize(char *buffer) override
Serialize the message into a byte array for sending.
Definition PoseMsg.cpp:28

Passer::RoboidControl::PoseMsg::Pose_Orientation
static const unsigned char Pose_Orientation
Bit pattern for a pose with orientation.
Definition PoseMsg.h:26

Passer::RoboidControl::PoseMsg::poseType
unsigned char poseType
Bit pattern stating which pose components are available.
Definition PoseMsg.h:22

Passer::RoboidControl::PoseMsg::Pose_AngularVelocity
static const unsigned char Pose_AngularVelocity
Bit pattern for a pose with angular velocity.
Definition PoseMsg.h:30