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 RoboidControl.PoseMsg:

Public Member Functions
	PoseMsg (byte networkId, Thing thing, bool force=false)
	Create a new message for sending.

	PoseMsg (byte[] buffer)

override byte	Serialize (ref byte[] buffer)

Public Attributes
byte	length = 4 + 4 + 4
	The length of the message.

byte	networkId
	The network ID of the thing.

byte	thingId
	The ID of the thing.

byte	poseType
	Bit pattern 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 velocity of the thing in local space.

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

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

RoboidControl.PoseMsg.PoseMsg	(	byte	networkId,
		Thing	thing,
		bool	force = `false`
	)

Create a new message for sending.

Parameters

networkId	The network ID of the thing
thing	The thing for which the pose should be sent
force	If true, position and orientation are always included, even when they are not updated

RoboidControl.PoseMsg.PoseMsg ( byte[] buffer )

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

virtual