OTPModulePositionVelAccel

OTPModulePositionVelAccel

OTP Module Position Velocity/Acceleration

public struct OTPModulePositionVelAccel: OTPModule, Equatable 

Implements an OTP Standard Module of the Position Velocity/Acceleration type and handles creation and parsing.

This data structure contains the positional velocity and acceleration of a Point. Velocity is provided in μm/s, and Acceleration in μm/s².

Example usage:

   // initialize a module at vX = 0.5m/s, vY = 0m/s, vZ = 0m/s and aX = 0.05m/s², aY = 0m/s², aZ = 0m/s²
   let module = OTPModulePositionVelAccel(vX: 500000, vY: 0, vZ: 0, aX: 50000, aY: 0, aZ: 0)
 

Inheritance

Equatable, OTPModule

Initializers

init()

Initializes this OTPModule with default values.

public init() 

init(vX:vY:vZ:aX:aY:aZ:)

Initializes an OTP Module Position Velocity/Acceleration.

public init(vX: Int32, vY: Int32, vZ: Int32, aX: Int32, aY: Int32, aZ: Int32) 

Parameters

• vX: The X position velocity in μm/s.
• vY: The Y position velocity in μm/s.
• vZ: The Z position velocity in μm/s.
• aX: The X position acceleration in μm/s².
• aY: The Y position acceleration in μm/s².
• aZ: The Z position acceleration in μm/s².

Properties

identifier

Uniquely identifies the module using an OTPModuleIdentifier.

public static let identifier: OTPModuleIdentifier 

dataLength

The size of the module's data in bytes.

public static let dataLength: OTPPDULength = 24

moduleLength

The total size of the module in bytes, including identifiers and length.

public static let moduleLength: OTPPDULength = dataLength + OTPPDULength(ModuleLayer.Offset.data.rawValue)

vX

The X position velocity in μm/s.

public var vX: Int32 = 0

vY

The Y position velocity in μm/s.

public var vY: Int32 = 0

vZ

The Z position velocity in μm/s.

public var vZ: Int32 = 0

aX

The X position acceleration in μm/s².

public var aX: Int32 = 0

aY

The Y position acceleration in μm/s².

public var aY: Int32 = 0

aZ

The Z position acceleration in μm/s².

public var aZ: Int32 = 0

logDescription

A human-readable log description of this module.

public var logDescription: String 

Methods

createAsData()

Creates a Module as Data.

public func createAsData() -> Data 

Returns

The OTPModule as a Data object.

parse(fromData:)

Attempts to create an OTPModulePositionVelocityAccel from the data.

public static func parse(fromData data: Data) throws -> (module: Self, length: OTPPDULength) 

Parameters

• data: The data to be parsed.

Throws

An error of type ModuleLayerValidationError.

Returns

A valid OTPModulePositionVelocityAccel and the length of the PDU.

merge(modules:)

Merges an arrray of modules.

public static func merge(modules: [OTPModule]) -> (module: Self?, excludePoint: Bool) 

Parameters

• modules: The OTPModules to be merged.

Returns

An optional OTPModule of this type, and whether to exclude the OTPPoint due to a mismatch.

isEqualToModule(_:)

Compares these modules for equality.

public func isEqualToModule(_ module: OTPModule) -> Bool 

Parameters

• module: The module to compare against.

Returns

Whether these modules are equal.