API Documentation

PlatformControlMessage

A generic high-level platform control message.

Arbitration key member(s): header.src_guid, dest_guid

PlatformControlMessage::PlatformControlMessage ( )

A default constructor.

PlatformControlMessage::PlatformControlMessage ( … )

A copy constructor.

Parameters
in/out type description
in const PlatformControlMessage & Instance being copied.

PlatformControlMessage::PlatformControlMessage ( … )

A convenience constructor from related type.

Parameters
in/out type description
in const ps_platform_control_msg & Instance of related type.

PlatformControlMessage::~PlatformControlMessage ( )

A default destructor.

PlatformControlMessage::print ( … )

This will print internal values.

Parameters
in/out type description
in std::ostream & Output stream which defaults to std::cout.

Returns

  • void

PlatformControlMessage::get_ps_platform_control_msg ( ) const

This provides convenient access of a related type.

Returns

PlatformControlMessage::operator= ( … )

An assignment operator.

Parameters
in/out type description
in const PlatformControlMessage & Instance to copy.
Returns
  • PlatformControlMessage &

static PlatformControlMessage::getName ( )

This will get a message name. It is useful in functions requiring message names, such as getMessageTypeByName.

Returns
  • std::string

PlatformControlMessage::getHeader ( ) const

This will get a PolySync message header.

Returns

PlatformControlMessage::setHeader ( … )

Parameters
in/out type description
in MsgHeader & Message header.
Returns
  • void

PlatformControlMessage::getHeaderType ( ) const

This will get a message type identifier.

Returns

PlatformControlMessage::setHeaderType ( … )

This will set a message type identifier.

Parameters
in/out type description
in ps_msg_type Message type identifier.
Returns
  • void

PlatformControlMessage::getHeaderTimestamp ( ) const

This will get a message timestamp. [microseconds]

Returns

PlatformControlMessage::setHeaderTimestamp ( … )

This will set a message timestamp. [microseconds]

Parameters
in/out type description
in ps_timestamp In microseconds.
Returns
  • void

PlatformControlMessage::getHeaderSrcGuid ( ) const

This will get a message producer’s GUID.

Returns

PlatformControlMessage::setHeaderSrcGuid ( … )

This will set a message producer’s GUID.

Parameters
in/out type description
in ps_guid Message producer’s GUID.
Returns
  • void

PlatformControlMessage::getSensorDescriptor ( ) const

This will get a standard sensor descriptor.

Returns

PlatformControlMessage::setSensorDescriptor ( … )

This will set a standard sensor descriptor.

Parameters
in/out type description
in SensorDescriptor & Standard sensor descriptor.
Returns
  • void

PlatformControlMessage::getSensorDescriptorId ( ) const

This will get an identifier. In most cases, this is the serial number. Value PSYNC_SENSOR_ID_INVALID means invalid.

Returns

PlatformControlMessage::setSensorDescriptorId ( … )

This will set an identifier. In most cases, this is the serial number. Value PSYNC_SENSOR_ID_INVALID means invalid.

Parameters
in/out type description
in ps_identifier
Returns
  • void

PlatformControlMessage::getSensorDescriptorType ( ) const

This will get the sensor descriptor type. Value PSYNC_SENSOR_KIND_INVALID means invalid. Value PSYNC_SENSOR_KIND_NOT_AVAILABLE means type not available.

Returns

PlatformControlMessage::setSensorDescriptorType ( … )

This will set the sensor descriptor type. Value PSYNC_SENSOR_KIND_INVALID means invalid. Value PSYNC_SENSOR_KIND_NOT_AVAILABLE means type not available.

Parameters
in/out type description
in ps_sensor_kind The sensor descriptor type.
Returns
  • void

PlatformControlMessage::getSensorDescriptorTransform ( ) const

This will get the transform that describes this data’s coordinate frame.

Returns

PlatformControlMessage::setSensorDescriptorTransform ( … )

This will set the transform that describes this data’s coordinate frame.

Parameters
in/out type description
in TransformStack & The transform that describes this data’s coordinate frame.
Returns
  • void

PlatformControlMessage::getSensorDescriptorTransformParentId ( ) const

This will get the parent coordinate frame identifier. Value PSYNC_COORDINATE_FRAME_INVALID means invalid.

Returns

PlatformControlMessage::setSensorDescriptorTransformParentId ( … )

This will set the parent coordinate frame identifier. Value PSYNC_COORDINATE_FRAME_INVALID means invalid.

Parameters
in/out type description
in ps_identifier The parent coordinate frame identifier.
Returns
  • void

PlatformControlMessage::getSensorDescriptorTransformTimestamp ( ) const

This will get the last updated timestamp of the parent, and/or any of its children transformations.

Returns

PlatformControlMessage::setSensorDescriptorTransformTimestamp ( … )

This will set the last updated timestamp of the parent, and/or any of its children transformations.

Parameters
in/out type description
in ps_timestamp The last update timestamp of the transform.
Returns
  • void

PlatformControlMessage::getSensorDescriptorTransformStack ( ) const

This will get the transformation stack that describes a PolySync transformation.

Returns

PlatformControlMessage::setSensorDescriptorTransformStack ( … )

This will set the transformation stack that describes a PolySync transformation.

Parameters
in/out type description
in std::vector<TransformDescriptor> & The transformation stack.
Returns
  • void

PlatformControlMessage::getDestGuid ( ) const

This will get the destination GUID. PSYNC_GUID_INVALID means it is not used.

Returns

PlatformControlMessage::setDestGuid ( … )

This will set the destination GUID. PSYNC_GUID_INVALID means it is not used.

Parameters
in/out type description
in ps_guid Destination GUID.
Returns
  • void

PlatformControlMessage::getTimestamp ( ) const

This will get the timestamp associated with the control command(s). [UTC microsecond]

Returns

PlatformControlMessage::setTimestamp ( … )

This will set the timestamp associated with the control command(s). [UTC microsecond]

Parameters
in/out type description
in ps_timestamp Timestamp associated with the control command(s). [UTC microsecond]
Returns
  • void

PlatformControlMessage::getEStop ( ) const

This will get an emergency stop state.

PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.

Returns
  • unsigned char

PlatformControlMessage::setEStop ( … )

This will set an emergency stop state.

PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.

Parameters
in/out type description
in unsigned char Emergency stop state.
Returns
  • void

PlatformControlMessage::getSpeed ( ) const

This will get the desired speed. [meters/second] A value of zero means stopped.

Returns
  • float

PlatformControlMessage::setSpeed ( … )

This will set the desired speed. [meters/second] A value of zero means stopped.

Parameters
in/out type description
in float Desired speed. [meters/second]
Returns
  • void

PlatformControlMessage::getAccelerationLimit ( ) const

This will get the desired acceleration limit. [meters/second^2] A value of zero means no limit.

Returns
  • float

PlatformControlMessage::setAccelerationLimit ( … )

This will set the desired acceleration limit. [meters/second^2] A value of zero means no limit.

Parameters
in/out type description
in float Desired acceleration limit. [meters/second^2]
Returns
  • void

PlatformControlMessage::getDeccelerationLimit ( ) const

This will get the desired deceleration limit. [meters/second^2] A value of zero means no limit.

Returns
  • float

PlatformControlMessage::setDeccelerationLimit ( … )

This will set the desired deceleration limit. [meters/second^2] A value of zero means no limit.

Parameters
in/out type description
in float Desired deceleration limit. [meters/second^2]
Returns
  • void

PlatformControlMessage::getCurvature ( ) const

This will get the desired steering curvature. [1/meters] A value of zero means straight ahead.

Returns
  • float

PlatformControlMessage::setCurvature ( … )

This will set the desired steering curvature. [1/meters] A value of zero means straight ahead.

Parameters
in/out type description
in float Desired steering curvature. [1/meters]
Returns
  • void

PlatformControlMessage::getMaxCurvatureRate ( ) const

This will get the desired maximum steering curvature rate. [1/meters/sec]

Returns
  • float

PlatformControlMessage::setMaxCurvatureRate ( … )

This will set the desired maximum steering curvature rate. [1/meters/sec]

Parameters
in/out type description
in float Desired maximum steering curvature rate. [1/meters/sec]
Returns
  • void