0x4620 - ReportPanTiltSpecifications

Description

This message provides the joint angle and joint velocity limits for the pan tilt mechanism.

Structure

ReportPanTiltSpecifications
 ReportPanTiltSpecificationsRec

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint8
2	PanTiltCoordinateSysX	uint32	meter	true	x coordinate of origin of pan tilt coordinate system measured with respect to vehicle coordinate system
3	PanTiltCoordinateSysY	uint32	meter	true	x coordinate of origin of pan tilt coordinate system measured with respect to vehicle coordinate system
4	PanTiltCoordinateSysZ	uint32	meter	true	x coordinate of origin of pan tilt coordinate system measured with respect to vehicle coordinate system
5	DComponentOfUnitQuaternionQ	uint32	one	true	quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system
6	AComponentOfUnitQuaternionQ	uint32	one	true	quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system
7	BComponentOfUnitQuaternionQ	uint32	one	true	quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system
8	CComponentOfUnitQuaternionQ	uint32	one	true	quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system
9	Joint1MinValue	uint32	radian	false
10	Joint1MaxValue	uint32	radian	false
11	Joint1MaxSpeed	uint32	radian per second	false
12	Joint2MinValue	uint32	radian	false
13	Joint2MaxValue	uint32	radian	false
14	Joint2MaxSpeed	uint32	radian per second	false