clearpath.horizon.payloads.Velocity Class Reference

Horizon Message Payload - Velocity. More...

Inheritance diagram for clearpath.horizon.payloads.Velocity:

List of all members.

Public Member Functions
def	__init__
	Create A Horizon Message Payload - Velocity.
def	print_format
	Human Readable Payload String.
Public Attributes
	accel
	Translational Acceleration.
	rot
	Rotational speed.
	trans
	Translational speed.

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Detailed Description

Horizon Message Payload - Velocity.

Represents the payload of the command and data messages 'velocity'

Warning:

Data should not be modified once created

Since:

0.1

Horizon Message Payload - Velocity

Definition at line 1761 of file payloads.py.

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Constructor & Destructor Documentation

def clearpath.horizon.payloads.Velocity.__init__	(		self,
			trans = 0,
			rot = 0,
			accel = 0,
			raw = None,
			timestamp = 0
	)

Create A Horizon Message Payload - Velocity.

Constructor for the Horizon Message Payload - Velocity.
The constructor can be called two different ways:

• Velocity(trans, rot, accel, raw=None, ...)
  Create a command message payload to send.
  
• Velocity(raw, version, timestamp)
  Parse raw data (most likely received) into payload variables.
  

Parameters:

accel	The desired translational acceleration (m/s^2)
flags	0x02 - Automatic Transmission, 0x01 - Dynamic Compensation, 0x03 - Both, 0x00 - None. DEPRECATED: not in Horizon as of v0.4.
raw	Raw Payload data byte list to parse
rot	The desired rotational speed (rad/s)
timestamp	Payload Send / Create Time (milliseconds)
trans	The desired translational speed (m/s)
version	Horizon Protocol Version, (-1,*) represents the newest version, (0,0) auto-detect the version (if supported)

Exceptions:

LookupError	If auto-detect version fails
ValueError	If values are out of range or if raw is invalid

Create A Horizon Message Payload - Velocity

Definition at line 1789 of file payloads.py.

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Member Function Documentation

def clearpath.horizon.payloads.Velocity.print_format

(

self

)

Human Readable Payload String.

Return the payload as a human readable string

Reimplemented from clearpath.horizon.payloads.Payload.

Definition at line 1857 of file payloads.py.

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Member Data Documentation

clearpath::horizon::payloads.Velocity::accel

Translational Acceleration.

Definition at line 1790 of file payloads.py.

clearpath::horizon::payloads.Velocity::rot

Rotational speed.

Definition at line 1791 of file payloads.py.

clearpath::horizon::payloads.Velocity::trans

Translational speed.

Definition at line 1792 of file payloads.py.

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The documentation for this class was generated from the following file:

• payloads.py