GlobalPathSegmentDriver

• URI: urn:jaus:jss:mobility:GlobalPathSegmentDriver
• Version: 1.1
• Inherits From: urn:jaus:jss:core:ListManager v1.1

Description

The function of the Global Path Segment Driver is to perform closed loop control of position and velocity along a path where the path is defined in a generic manner. The Global Path Segment Driver differs from the Waypoint Drivers in that the exact path between “waypoints” is strictly defined. A path segment will be defined by specifying the three-dimensional coordinates of three points, P0, P1, and P2 together with one scalar weighting value w1 as documented in the JAUS Mobility Service Set Specification.

Messages

The GlobalPathSegmentDriver service uses the following messages.

Input

• 0x041E - ExecuteList
• 0x04AE - ExecuteListExt
• 0x240A - QueryTravelSpeed
• 0x24AA - QueryTravelSpeedExt
• 0x240F - QueryGlobalPathSegment
• 0x24AF - QueryGlobalPathSegmentExt
• 0x241E - QueryActiveElement

Output

• 0x440A - ReportTravelSpeed
• 0x44AA - ReportTravelSpeedExt
• 0x440F - ReportGlobalPathSegment
• 0x44AF - ReportGlobalPathSegmentExt
• 0x441E - ReportActiveElement

Internal Events

• None