Cpp/_pose_msg_8h_source.html

#pragma once

#include "IMessage.h"

#include "Thing.h"


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;


  Spherical position;

  SwingTwist orientation;

  Spherical linearVelocity;

  Spherical angularVelocity;


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


  PoseMsg(const char* buffer);

  virtual ~PoseMsg();


  virtual unsigned char Serialize(char* buffer) override;

};


}  // namespace RoboidControl

RoboidControl::IMessage
Root structure for all communcation messages.
Definition IMessage.h:6

RoboidControl::PoseMsg
Message to communicate the pose of the thing The pose is in local space relative to the parent....
Definition PoseMsg.h:10

RoboidControl::PoseMsg::Pose_Position
static const unsigned char Pose_Position
Bit pattern for a pose with position.
Definition PoseMsg.h:25

RoboidControl::PoseMsg::angularVelocity
Spherical angularVelocity
The angular velocity of the thing in local space.
Definition PoseMsg.h:41

RoboidControl::PoseMsg::orientation
SwingTwist orientation
The orientation of the thing in local space.
Definition PoseMsg.h:36

RoboidControl::PoseMsg::Pose_AngularVelocity
static const unsigned char Pose_AngularVelocity
Bit pattern for a pose with angular velocity.
Definition PoseMsg.h:31

RoboidControl::PoseMsg::networkId
unsigned char networkId
The network ID of the thing.
Definition PoseMsg.h:18

RoboidControl::PoseMsg::~PoseMsg
virtual ~PoseMsg()
Destructor for the message.
Definition PoseMsg.cpp:42

RoboidControl::PoseMsg::Pose_Orientation
static const unsigned char Pose_Orientation
Bit pattern for a pose with orientation.
Definition PoseMsg.h:27

RoboidControl::PoseMsg::linearVelocity
Spherical linearVelocity
The linear velocity of the thing in local space in meters per second.
Definition PoseMsg.h:39

RoboidControl::PoseMsg::Serialize
virtual unsigned char Serialize(char *buffer) override
Serialize the message into a byte array for sending.
Definition PoseMsg.cpp:44

RoboidControl::PoseMsg::thingId
unsigned char thingId
The ID of the thing.
Definition PoseMsg.h:20

RoboidControl::PoseMsg::length
unsigned char length
The length of the message in bytes.
Definition PoseMsg.h:15

RoboidControl::PoseMsg::position
Spherical position
The position of the thing in local space in meters.
Definition PoseMsg.h:34

RoboidControl::PoseMsg::Pose_LinearVelocity
static const unsigned char Pose_LinearVelocity
Bit pattern for a pose with linear velocity.
Definition PoseMsg.h:29

RoboidControl::PoseMsg::poseType
unsigned char poseType
Bit pattern stating which pose components are available.
Definition PoseMsg.h:23

RoboidControl::Thing
A thing is the primitive building block.
Definition Thing.h:20