mirror of
https://github.com/AdaCore/OpenUxAS.git
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95 lines
3.7 KiB
XML
95 lines
3.7 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE MDM SYSTEM 'MDM.DTD'>
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<!--
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<h2>Introduction</h2>
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VEHICLES message definitions.
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<h2>Changes</h2>
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<h3>04 April 2017</h3>
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<ul>
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<li>Moved ground vehicle, surface vehicle, and stationary sensor definitions to separate MDM</li>
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</ul>
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-->
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<MDM>
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<SeriesName>VEHICLES</SeriesName>
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<Namespace>afrl/vehicles</Namespace>
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<Version>1</Version>
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<StructList>
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<!-- Provides information regarding a vehicle's configuration items. -->
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<Struct Name="GroundVehicleConfiguration" Extends="CMASI/EntityConfiguration">
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<!-- Valid operational road network. UGV adheres to positions defined in this graph. Indicated by previously sent GraphRegion's ID -->
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<Field Name="RoadGraphID" Type="int64" />
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<!-- The minimum speed that should be commanded for this vehicle -->
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<Field Name="MinimumSpeed" Type="real32" Units="meter/sec" />
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<!-- The maximum speed that should be commanded for this vehicle -->
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<Field Name="MaximumSpeed" Type="real32" Units="meter/sec" />
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<!--
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The consumption rate of available energy at nominal speed, expressed in terms of the percentage of maximum capacity used per second.
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-->
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<Field Name="EnergyRate" Type="real32" Units="%/sec" />
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</Struct>
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<!--Provides basic state information regarding entity position, orientation, and velocity. -->
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<Struct Name="GroundVehicleState" Extends="CMASI/EntityState">
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</Struct>
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<!-- Provides information regarding a vehicle's configuration items. -->
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<Struct Name="SurfaceVehicleConfiguration" Extends="CMASI/EntityConfiguration">
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<!-- Valid operational water zone (by ID). USV adheres to this area -->
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<Field Name="WaterArea" Type="int64" />
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<!-- The minimum speed that should be commanded for this vehicle -->
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<Field Name="MinimumSpeed" Type="real32" Units="meter/sec" />
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<!-- The maximum speed that should be commanded for this vehicle -->
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<Field Name="MaximumSpeed" Type="real32" Units="meter/sec" />
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<!--
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The consumption rate of available energy at nominal speed, expressed in terms of the percentage of maximum capacity used per second.
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-->
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<Field Name="EnergyRate" Type="real32" Units="%/sec" />
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<!-- The maximum angle that this vehicle will bank -->
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<Field Name="MaxBankAngle" Type="real32" Units="degree" />
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<!-- The maximum angular rate that this vehicle will bank -->
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<Field Name="MaxBankRate" Type="real32" Units="degree/sec" />
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</Struct>
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<!--Provides basic state information regarding entity position, orientation, and velocity. -->
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<Struct Name="SurfaceVehicleState" Extends="CMASI/EntityState">
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<!-- Current bank angle of the surface vehicle -->
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<Field Name="BankAngle" Type="real32" Units="degree" />
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<!-- Forward speed of the vehicle relative to the mass of water -->
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<Field Name="Speed" Type="real32" Units="meter/sec" />
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</Struct>
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<!-- Provides information regarding a sensor's configuration items. -->
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<Struct Name="StationarySensorConfiguration" Extends="CMASI/EntityConfiguration">
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</Struct>
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<!--Provides basic state information regarding entity position, orientation, and velocity. -->
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<Struct Name="StationarySensorState" Extends="CMASI/EntityState">
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</Struct>
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</StructList>
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</MDM>
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