0x4805 - ReportSensorGeometricProperties

Description

This message is used to report information about the geometric properties of a sensor with respect to the vehicle. Three possible use cases are supported: 1.The sensor has no knowledge of its geometric properties. 2.The sensor is rigidly mounted to the vehicle and the position and orientation with respect to the vehicle coordinate system is known. In this case the position and orientation of the sensor is defined by a position vector (x, y, z) and unit quaternion (d; a, b, c) which specifies the axis and angle of rotation used to establish the orientation of the sensor coordinate system with respect to the vehicle coordinate system. 3.The sensor is mounted to a manipulator in which the JAUS ID, joint number and the sensor offset are described. In this case the position and orientation of the sensor is defined by a position vector (x, y, z) and unit quaternion (d; a, b, c) which specifies the axis and angle of rotation used to establish the orientation of the sensor coordinate system with respect to the link coordinate system.

Structure

ReportSensorGeometricProperties
 GeometricPropertiesList
   GeometricPropertiesSequence
     SensorIdRec
     GeometricPropertiesVariant
       NoGeometricPropertiesVariant
       StaticGeometricPropertiesRec
       ManipulatorGeometricPropertiesRec

GeometricPropertiesList

Type: List

Element Type	Count Type	Min Count	Max Count
GeometricPropertiesSequence	uint16	0	65535

GeometricPropertiesSequence

Type: Sequence

Field #	Field Name	Type	Optional	Interpretation
1	SensorIdRec	SensorIdRec	false
2	GeometricPropertiesVariant	GeometricPropertiesVariant	false

SensorIdRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	SensorID			false

GeometricPropertiesVariant

Type: Variant

Index	Type
0	NoGeometricPropertiesVariant
1	StaticGeometricPropertiesRec
2	ManipulatorGeometricPropertiesRec

NoGeometricPropertiesVariant

StaticGeometricPropertiesRec

Type: Record

Field #	Field Name	Type	Units	Optional	Interpretation
1	SensorPosition			false
2	UnitQuaternion			false

ManipulatorGeometricPropertiesRec

Type: Record

Field #	Field Name	Type	Units	Optional
1	SubsystemID	uint16	one	false
2	NodeID	uint8	one	false
3	ComponentID	uint8	one	false
4	JointNumber	uint8	one	false
5	SensorPosition			false
6	UnitQuaternion			false