56 lines
1.9 KiB
C++
56 lines
1.9 KiB
C++
#include "Messages.h"
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namespace RoboidControl {
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/// @brief Message to communicate the pose of the thing
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/// The pose is in local space relative to the parent. If there is not parent
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/// (the thing is a root thing), the pose will be in world space.
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class PoseMsg : public IMessage {
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public:
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/// @brief The message ID
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static const unsigned char id = 0x10;
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/// @brief The length of the message
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unsigned char length = 4 + 4 + 4;
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/// @brief The network ID of the thing
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unsigned char networkId;
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/// @brief The ID of the thing
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unsigned char thingId;
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/// @brief Bit pattern stating which pose components are available
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unsigned char poseType;
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/// @brief Bit pattern for a pose with position
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static const unsigned char Pose_Position = 0x01;
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/// @brief Bit pattern for a pose with orientation
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static const unsigned char Pose_Orientation = 0x02;
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/// @brief Bit pattern for a pose with linear velocity
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static const unsigned char Pose_LinearVelocity = 0x04;
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/// @brief Bit pattern for a pose with angular velocity
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static const unsigned char Pose_AngularVelocity = 0x08;
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/// @brief The position of the thing in local space in meters
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Spherical position;
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/// @brief The orientation of the thing in local space
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SwingTwist orientation;
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/// @brief The linear velocity of the thing in local space in meters per
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/// second
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Spherical linearVelocity;
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/// @brief The angular velocity of the thing in local space
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Spherical angularVelocity;
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/// @brief Create a new message for sending
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/// @param networkId he network ID of the thing
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/// @param thing The thing for which the pose shouldbe sent
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PoseMsg(unsigned char networkId, Thing* thing, bool force = false);
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/// @copydoc RoboidControl::IMessage::IMessage(char*)
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PoseMsg(const char* buffer);
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/// @brief Destructor for the message
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virtual ~PoseMsg();
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/// @copydoc RoboidControl::IMessage::Serialize
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virtual unsigned char Serialize(char* buffer) override;
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};
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} // namespace RoboidControl
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