API Documentation

PlatformSteeringCommandMessage

A generic platform steering command message.

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

PlatformSteeringCommandMessage::PlatformSteeringCommandMessage ( )

A default constructor.

PlatformSteeringCommandMessage::PlatformSteeringCommandMessage ( … )

A copy constructor.

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

PlatformSteeringCommandMessage::PlatformSteeringCommandMessage ( … )

This provides a convenience constructor from a related type.

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

PlatformSteeringCommandMessage::~PlatformSteeringCommandMessage ( )

A default destructor.

PlatformSteeringCommandMessage::print ( … )

This will print internal values.

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

Returns

  • void

PlatformSteeringCommandMessage::get_ps_platform_steering_command_msg ( ) const

This provides convenient access of a related type.

Returns

PlatformSteeringCommandMessage::operator= ( … )

An assignment operator.

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

static PlatformSteeringCommandMessage::getName ( )

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

Returns
  • std::string

PlatformSteeringCommandMessage::getHeader ( ) const

This will get a PolySync message header.

Returns

PlatformSteeringCommandMessage::setHeader ( … )

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

PlatformSteeringCommandMessage::getHeaderType ( ) const

This will get a message type identifier.

Returns

PlatformSteeringCommandMessage::setHeaderType ( … )

This will set a message type identifier.

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

PlatformSteeringCommandMessage::getHeaderTimestamp ( ) const

This will get a message timestamp. [microseconds]

Returns

PlatformSteeringCommandMessage::setHeaderTimestamp ( … )

This will set a message timestamp. [microseconds]

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

PlatformSteeringCommandMessage::getHeaderSrcGuid ( ) const

This will get a message producer’s GUID.

Returns

PlatformSteeringCommandMessage::setHeaderSrcGuid ( … )

This will set a message producer’s GUID.

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

PlatformSteeringCommandMessage::getSensorDescriptor ( ) const

This will get a standard sensor descriptor.

Returns

PlatformSteeringCommandMessage::setSensorDescriptor ( … )

This will set a standard sensor descriptor.

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

PlatformSteeringCommandMessage::getSensorDescriptorId ( ) const

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

Returns

PlatformSteeringCommandMessage::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

PlatformSteeringCommandMessage::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

PlatformSteeringCommandMessage::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

PlatformSteeringCommandMessage::getSensorDescriptorTransform ( ) const

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

Returns

PlatformSteeringCommandMessage::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

PlatformSteeringCommandMessage::getSensorDescriptorTransformParentId ( ) const

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

Returns

PlatformSteeringCommandMessage::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

PlatformSteeringCommandMessage::getSensorDescriptorTransformTimestamp ( ) const

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

Returns

PlatformSteeringCommandMessage::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

PlatformSteeringCommandMessage::getSensorDescriptorTransformStack ( ) const

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

Returns

PlatformSteeringCommandMessage::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

PlatformSteeringCommandMessage::getDestGuid ( ) const

This will get a destination GUID. PSYNC_GUID_INVALID means not used.

Returns

PlatformSteeringCommandMessage::setDestGuid ( … )

This will set a destination GUID. PSYNC_GUID_INVALID means not used.

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

PlatformSteeringCommandMessage::getTimestamp ( ) const

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

Returns

PlatformSteeringCommandMessage::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

PlatformSteeringCommandMessage::getEStop ( ) const

This will get an emergency stop state.

PSYNC_EMERGENCY_STOP_DISABLED means disabled. Any other value means enabled.

Returns
  • unsigned char

PlatformSteeringCommandMessage::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

PlatformSteeringCommandMessage::getEnabled ( ) const

This will will get the desired steering enabled state.

A value of zero means disabled. Any other value means enabled.

Returns
  • unsigned char

PlatformSteeringCommandMessage::setEnabled ( … )

This will set the desired steering enabled state.

A value of zero means disabled. Any other value means enabled.

Parameters
in/out type description
in unsigned char Desired steering enabled state.
Returns
  • void

PlatformSteeringCommandMessage::getSteeringCommandKind ( ) const

This will get the steering command kind. It indicates which type of steering command to apply. Value STEERING_COMMAND_INVALID means no steering command applied.

Returns

PlatformSteeringCommandMessage::setSteeringCommandKind ( … )

This will set the steering command kind. It indicates which type of steering command to apply. Value STEERING_COMMAND_INVALID means no steering command applied.

Parameters
in/out type description
in ps_steering_command_kind Steering command kind.
Returns
  • void

PlatformSteeringCommandMessage::getSteeringWheelAngle ( ) const

This will get the desired steering wheel angle. [radians] This is used when steering_command is set to STEERING_COMMAND_ANGLE. A value of zero means straight ahead.

Returns
  • float

PlatformSteeringCommandMessage::setSteeringWheelAngle ( … )

This will set the desired steering wheel angle. [radians] This is used when steering_command is set to STEERING_COMMAND_ANGLE. A value of zero means straight ahead.

Parameters
in/out type description
in float Desired steering wheel angle. [radians]
Returns
  • void

PlatformSteeringCommandMessage::getMaxSteeringWheelRotationRate ( ) const

This will get the desired maximum steering wheel rotation rate. [radians/second]

Returns
  • float

PlatformSteeringCommandMessage::setMaxSteeringWheelRotationRate ( … )

This will set the desired maximum steering wheel rotation rate. [radians/second]

Parameters
in/out type description
in float Desired maximum steering wheel rotation rate. [radians/second]
Returns
  • void