OTPModuleRotationVelAccel

OTPModuleRotationVelAccel

OTP Module Rotation Velocity/Acceleration

public struct OTPModuleRotationVelAccel: OTPModule, Equatable 

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

This data structure contains the rotational velocity and acceleration of a Point. Velocity is provided in thousandths of a decimal degree/s, and Acceleration in thousandths of a decimal degree/s².

This module supports velocities as low as 0.001 degrees/s and as high as 1000 revolutions/s. For example, a value of 45,000 for vX would mean a rotation of 45 degrees/s, or 0.125 revolutions/s, or 7.5 rpm.

Example usage:

   // initialize a module at vX = 0°/s, vY = 0°/s, vZ = 15°/s and aX = 0°/s², aY = 0°/s², aZ = 5°/s²
   let module = OTPModuleRotationVelAccel(vX: 0, vY: 0, vZ: 15000, aX: 0, aY: 0, aZ: 5000)
 

Inheritance

Equatable, OTPModule

Initializers

init()

Initializes this OTPModule with default values.

public init() 

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

Initializes an OTP Module Rotation Velocity/Acceleration.

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

Parameters

• vX: The X rotation velocity in thousandths of a decimal degree/s i.e. 5,000 = 5°/s.
• vY: The Y rotation velocity in thousandths of a decimal degree/s i.e. 5,000 = 5°/s.
• vZ: The Z rotation velocity in thousandths of a decimal degree/s i.e. 5,000 = 5°/s.
• aX: The X rotation acceleration in thousandths of a decimal degree/s² i.e. 5,000 = 5°/s².
• aY: The Y rotation acceleration in thousandths of a decimal degree/s² i.e. 5,000 = 5°/s².
• aZ: The Z rotation acceleration in thousandths of a decimal degree/s² i.e. 5,000 = 5°/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)

minPermitted

The minimum permitted value for all variables in this module.

public static let minPermitted: Int32 = -360000000

maxPermitted

The maximum permitted value for all variables in this module.

public static let maxPermitted: Int32 = 360000000

vX

The X rotation velocity in thousandths of a decimal degree/s i.e. 5,000 = 5°/s.

public var vX: Int32 = 0

vY

The Y rotation velocity in thousandths of a decimal degree/s i.e. 5,000 = 5°/s.

public var vY: Int32 = 0

vZ

The Z rotation velocity in thousandths of a decimal degree/s i.e. 5,000 = 5°/s.

public var vZ: Int32 = 0

aX

The X rotation acceleration in thousandths of a decimal degree/s² i.e. 5,000 = 5°/s².

public var aX: Int32 = 0

aY

The Y rotation acceleration in thousandths of a decimal degree/s² i.e. 5,000 = 5°/s².

public var aY: Int32 = 0

aZ

The Z rotation acceleration in thousandths of a decimal degree/s² i.e. 5,000 = 5°/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 OTPModuleRotationVelocityAccel 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 OTPModuleRotationVelocityAccel 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(_:)

Calculates whether this module is considered equal to another one.

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

Parameters

• module: The OTPModule to be compared against.

Returns

Whether these OTPModules are considered equal.

validValue(from:)

Calculates a valid value for this fields in this module from the string provided.

public static func validValue(from string: String) -> Int32 

Parameters

• string: The string to be evaluated.

Returns

A valid value for storing in this module.