Rename PrescribedMotion module messages

The module's PrescribedTransMsgPayload message is
replaced with the new TranslatingRigidBodyMsgPayload
message

Author: leahkiner

src/simulation/dynamics/prescribedMotion/_UnitTest/test_PrescribedMotionStateEffector.py

@@ -425,11 +425,11 @@ def PrescribedMotionTestFunction(show_plots, rotTest, thetaInit, theta_Ref, posI
 
         # Create the prescribedTrans input message
         velRef = 0.0  # [m/s]
-        PrescribedTransMessageData = messaging.PrescribedTransMsgPayload()
-        PrescribedTransMessageData.scalarPos = posRef
-        PrescribedTransMessageData.scalarVel = velRef
-        PrescribedTransMessage = messaging.PrescribedTransMsg().write(PrescribedTransMessageData)
-        PrescribedTrans.prescribedTransInMsg.subscribeTo(PrescribedTransMessage)
+        translatingRigidBodyMessageData = messaging.TranslatingRigidBodyMsgPayload()
+        translatingRigidBodyMessageData.rho = posRef
+        translatingRigidBodyMessageData.rhoDot = velRef
+        translatingRigidBodyMessage = messaging.TranslatingRigidBodyMsg().write(translatingRigidBodyMessageData)
+        PrescribedTrans.translatingRigidBodyInMsg.subscribeTo(translatingRigidBodyMessage)
 
         # Connect the PrescribedTrans module's prescribedMotion output message to the prescribedMotion module's prescribedMotion input message
         platform.prescribedMotionInMsg.subscribeTo(PrescribedTrans.prescribedMotionOutMsg)