5.Velocity State Sensor

The Velocity State Sensor service reports the velocities of the mobility system.

Require: none
Inherit from: none

5.1 Service Behavior

5.1.1 State Diagram

  Figure 4 Velocity State Sensor State Diagram

5.1.2 State Actions

5.1.3 Internal Events

5.1.4 Transitions

5.2 Protocol

5.2.1 Incoming Message Set

5.2.2 Outgoing Message Set

5.3 Parameters

1. CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
2. DATATIMEOUT double, timeout in seconds for not receiving velocity state updates, default=0.5.

5.4 Data

Set:

1. location= velocitystate, type= VelocityStateRec