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.

Inheritance diagram for Passer.RoboidControl.PoseMsg:

Public Member Functions
	PoseMsg (byte networkId, byte thingId, Spherical position, SwingTwist orientation)
	Create a new message for sending.

	PoseMsg (byte[] buffer)
	Create a message for receiving.

override byte	Serialize (ref byte[] buffer)
	Serialize the message into a byte array for sending.

Public Attributes
byte	networkId
	The network ID of the thing.

byte	thingId
	The ID of the thing.

byte	poseType
	bitpattern stating which pose components are available

Spherical	position = Spherical.zero
	The position of the thing in local space in meters.

SwingTwist	orientation = SwingTwist.zero
	The orientation of the thing in local space.

Spherical	linearVelocity = Spherical.zero
	The linear velocity of the thing in local space in meters per second.

Spherical	angularVelocity = Spherical.zero
	The angular veloicty of the thing in local space.

Static Public Attributes
const byte	Id = 0x10
	The message ID.

const byte	length = 4 + 4 + 4
	The length of the message.

const byte	Pose_Position = 0x01
	Bit pattern for a pose with position.

const byte	Pose_Orientation = 0x02
	Bit pattern for a pose with orientation.

const byte	Pose_LinearVelocity = 0x04
	Bit pattern for a pose with linear velocity.

const byte	Pose_AngularVelocity = 0x08
	Bit pattern for a pose with angular velocity.

Constructor & Destructor Documentation

Passer.RoboidControl.PoseMsg.PoseMsg	(	byte	networkId,
		byte	thingId,
		Spherical	position,
		SwingTwist	orientation
	)

Create a new message for sending.

Parameters

networkId	The network ID of the thing
thingId	The ID of the thing
position	The position of the thing in local space in meters
orientation	The orientation of the thing in local space

Passer.RoboidControl.PoseMsg.PoseMsg ( byte[] buffer )

Create a message for receiving.

Parameters

buffer The byte array to parse

override byte Passer.RoboidControl.PoseMsg.Serialize ( ref byte[] buffer )

virtual

Serialize the message into a byte array for sending.

Parameters

buffer The buffer to serilize into