Passer::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>

Inheritance diagram for Passer::RoboidControl::PoseMsg:

Public Member Functions
	PoseMsg (unsigned char networkId, unsigned char thingId, unsigned char poseType, Spherical16 position, SwingTwist16 orientation, Spherical16 linearVelocity=Spherical16(), Spherical16 angularVelocity=Spherical16())
	Create a new message for sending.
	PoseMsg (const char *buffer)
	Create a message for receiving.
virtual	~PoseMsg ()
	Destructor for the message.
virtual unsigned char	Serialize (char *buffer) override
	Serialize the message into a byte array for sending.

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.
Spherical16	position
	The position of the thing in local space in meters.
SwingTwist16	orientation
	The orientation of the thing in local space.
Spherical16	linearVelocity
	The linear velocity of the thing in local space in meters per second.
Spherical16	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]

PoseMsg::PoseMsg	(	unsigned char	networkId,
		unsigned char	thingId,
		unsigned char	poseType,
		Spherical16	position,
		SwingTwist16	orientation,
		Spherical16	linearVelocity = Spherical16(),
		Spherical16	angularVelocity = Spherical16()
	)

Create a new message for sending.

Parameters

networkId	The network ID of the thing
thingId	The ID of the thing
poseType	Bit pattern stating which pose components are available
position	The position of the thing in local space in meters
orientation	The orientation of the thing in local space
linearVelocity	The linear velocity of the thing in local space in meters per second
angularVelocity	The angular velocity of the thing in local space

PoseMsg() [2/2]

PoseMsg::PoseMsg

(

const char *

buffer

)

Create a message for receiving.

Parameters

buffer

The byte array to parse

Member Function Documentation

Serialize()

unsigned char PoseMsg::Serialize ( char *  buffer )

overridevirtual

Serialize the message into a byte array for sending.

Parameters

buffer

The buffer to serilize into

Returns

The length of the message in the buffer

Reimplemented from Passer::RoboidControl::IMessage.