#include "Messages.h" class PoseMsg : public IMessage { public: static const unsigned char id = 0x10; unsigned char length = 4 + 4 + 4; unsigned char networkId; unsigned char thingId; unsigned char poseType; static const unsigned char Pose_Position = 0x01; static const unsigned char Pose_Orientation = 0x02; static const unsigned char Pose_LinearVelocity = 0x04; // For future use static const unsigned char Pose_AngularVelocity = 0x08; // For future use Spherical16 position; SwingTwist16 orientation; Spherical16 linearVelocity; Spherical16 angularVelocity; PoseMsg(unsigned char networkId, unsigned char thingId, unsigned char poseType, Spherical16 position, SwingTwist16 orientation, Spherical16 linearVelocity = Spherical16(), Spherical16 angularVelocity = Spherical16()); PoseMsg(const char *buffer); virtual ~PoseMsg(); virtual unsigned char Serialize(char *buffer) override; };