DesiredPath

java.lang.Object
- pt.lsts.imc.IMCMessage
- - pt.lsts.imc.ControlCommand
  - - pt.lsts.imc.DesiredPath

All Implemented Interfaces:

java.lang.Cloneable, java.lang.Comparable<IMCMessage>, IMessage
```
public class DesiredPath
extends ControlCommand
```
IMC Message Desired Path (406)
Perform path control.
The path is specified by two WGS-84 waypoints, respective
altitude / depth settings, optional loitering at the end point,
and some control flags.
The start and end waypoints are defined by the specified end point fields
('end_{lat/lon/z}') plus:
1. the start waypoint fields ('start_{lat|lon|z}') if the
'START' flag (bit in 'flags' field) is set; or
2. the end point of the previous path recently tracked; or
3. the current location is the 'DIRECT' flag is set or if
the tracker has been idle for some time.
Altitude and depth control can be performed as follows:
1. by default, the tracker will just transmit an altitude/depth
reference value equal to 'end_z' to the appropriate controller;
2. if the 'NO_Z' flag is set no altitude/depth control will take
place, hence they can be controlled independently;
3. if the '3DTRACK' flag is set, 3D-tracking will be done
(if supported by the active controller).
Loitering can be specified at the end point with a certain
radius ('lradius'), duration ('lduration'), and clockwise or
counter-clockwise direction ('CCLOCKW' flag).

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class DesiredPath.END_Z_UNITS

static class DesiredPath.SPEED_UNITS

static class DesiredPath.START_Z_UNITS

Nested Classes
Modifier and Type	Class and Description
`static class`	`DesiredPath.END_Z_UNITS`
`static class`	`DesiredPath.SPEED_UNITS`
`static class`	`DesiredPath.START_Z_UNITS`

Field Summary

Fields
Modifier and Type	Field and Description
`static short`	`FL_3DTRACK`
`static short`	`FL_CCLOCKW`
`static short`	`FL_DIRECT`
`static short`	`FL_LAND`
`static short`	`FL_LOITER_CURR`
`static short`	`FL_NO_Z`
`static short`	`FL_START`
`static short`	`FL_TAKEOFF`
`static int`	`ID_STATIC`

Fields inherited from class pt.lsts.imc.IMCMessage
DEFAULT_ENTITY_ID, DEFAULT_SYSTEM_ID

Constructor Summary

Constructors
Constructor and Description
`DesiredPath()`
`DesiredPath(IMCDefinition defs)`
`DesiredPath(IMCMessage msg)`
`DesiredPath(long path_ref, double start_lat, double start_lon, float start_z, DesiredPath.START_Z_UNITS start_z_units, double end_lat, double end_lon, float end_z, DesiredPath.END_Z_UNITS end_z_units, float speed, DesiredPath.SPEED_UNITS speed_units, float lradius, short flags)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`static DesiredPath`	`clone(IMCMessage msg)`
`static DesiredPath`	`create(java.lang.Object... values)`
`double`	`getEndLat()`
`double`	`getEndLon()`
`double`	`getEndZ()`
`DesiredPath.END_Z_UNITS`	`getEndZUnits()`
`java.lang.String`	`getEndZUnitsStr()`
`short`	`getEndZUnitsVal()`
`short`	`getFlags()`
`double`	`getLradius()`
`long`	`getPathRef()`
`double`	`getSpeed()`
`DesiredPath.SPEED_UNITS`	`getSpeedUnits()`
`java.lang.String`	`getSpeedUnitsStr()`
`short`	`getSpeedUnitsVal()`
`double`	`getStartLat()`
`double`	`getStartLon()`
`double`	`getStartZ()`
`DesiredPath.START_Z_UNITS`	`getStartZUnits()`
`java.lang.String`	`getStartZUnitsStr()`
`short`	`getStartZUnitsVal()`
`DesiredPath`	`setEndLat(double end_lat)`
`DesiredPath`	`setEndLon(double end_lon)`
`DesiredPath`	`setEndZ(double end_z)`
`DesiredPath`	`setEndZUnits(DesiredPath.END_Z_UNITS end_z_units)`
`DesiredPath`	`setEndZUnitsStr(java.lang.String end_z_units)`
`DesiredPath`	`setEndZUnitsVal(short end_z_units)`
`DesiredPath`	`setFlags(short flags)`
`DesiredPath`	`setLradius(double lradius)`
`DesiredPath`	`setPathRef(long path_ref)`
`DesiredPath`	`setSpeed(double speed)`
`DesiredPath`	`setSpeedUnits(DesiredPath.SPEED_UNITS speed_units)`
`DesiredPath`	`setSpeedUnitsStr(java.lang.String speed_units)`
`DesiredPath`	`setSpeedUnitsVal(short speed_units)`
`DesiredPath`	`setStartLat(double start_lat)`
`DesiredPath`	`setStartLon(double start_lon)`
`DesiredPath`	`setStartZ(double start_z)`
`DesiredPath`	`setStartZUnits(DesiredPath.START_Z_UNITS start_z_units)`
`DesiredPath`	`setStartZUnitsStr(java.lang.String start_z_units)`
`DesiredPath`	`setStartZUnitsVal(short start_z_units)`

Methods inherited from class pt.lsts.imc.IMCMessage
asJSON, asJSON, asMap, asXml, asXmlStripped, cloneMessage, cloneMessage, compareTo, copyFrom, decodeTupleList, dump, encodeTupleList, get, getAbbrev, getAgeInSeconds, getAsNumber, getAsString, getBitmask, getDate, getDouble, getDst, getDstEnt, getEntityName, getFieldNames, getFloat, getHeader, getHeaderValue, getInteger, getLong, getLongFieldName, getLongName, getMessage, getMessage, getMessageInfo, getMessageList, getMessageList, getMessageType, getMgid, getPayloadSize, getProtocolFactory, getRawData, getSize, getSourceName, getSrc, getSrcEnt, getString, getString, getTimestamp, getTimestampMillis, getTupleList, getTypeOf, getUnitsOf, getValue, getValues, hasFlag, hexdump, isNull, isPeriodic, main, makeImmutable, parseJson, parseXml, payloadMD5, serialize, serialize, serialize, serializePayload, setBitMask, setDst, setDstEnt, setHeader, setMessageInfo, setMessageList, setSrc, setSrcEnt, setTimestamp, setTimestampMillis, setType, setValue, setValues, toString, validate

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail
- FL_START
```
public static final short FL_START
```
  See Also:
  
  Constant Field Values
- FL_DIRECT
```
public static final short FL_DIRECT
```
  See Also:
  
  Constant Field Values
- FL_NO_Z
```
public static final short FL_NO_Z
```
  See Also:
  
  Constant Field Values
- FL_3DTRACK
```
public static final short FL_3DTRACK
```
  See Also:
  
  Constant Field Values
- FL_CCLOCKW
```
public static final short FL_CCLOCKW
```
  See Also:
  
  Constant Field Values
- FL_LOITER_CURR
```
public static final short FL_LOITER_CURR
```
  See Also:
  
  Constant Field Values
- FL_TAKEOFF
```
public static final short FL_TAKEOFF
```
  See Also:
  
  Constant Field Values
- FL_LAND
```
public static final short FL_LAND
```
  See Also:
  
  Constant Field Values
- ID_STATIC
```
public static final int ID_STATIC
```
  See Also:
  
  Constant Field Values

Constructor Detail

DesiredPath
```
public DesiredPath()
```

DesiredPath
```
public DesiredPath(IMCMessage msg)
```

DesiredPath

public DesiredPath(IMCDefinition defs)

DesiredPath

public DesiredPath(long path_ref,
                   double start_lat,
                   double start_lon,
                   float start_z,
                   DesiredPath.START_Z_UNITS start_z_units,
                   double end_lat,
                   double end_lon,
                   float end_z,
                   DesiredPath.END_Z_UNITS end_z_units,
                   float speed,
                   DesiredPath.SPEED_UNITS speed_units,
                   float lradius,
                   short flags)

Method Detail
- create
```
public static DesiredPath create(java.lang.Object... values)
```
- clone
```
public static DesiredPath clone(IMCMessage msg)
                         throws java.lang.Exception
```
  Throws:
  
  java.lang.Exception
- getPathRef
```
public long getPathRef()
```
  Returns:
  
  Path Reference - uint32_t
- setPathRef
```
public DesiredPath setPathRef(long path_ref)
```
  Parameters:
  
  path_ref - Path Reference
- getStartLat
```
public double getStartLat()
```
  Returns:
  
  Start Point -- Latitude WGS-84 (rad) - fp64_t
- setStartLat
```
public DesiredPath setStartLat(double start_lat)
```
  Parameters:
  
  start_lat - Start Point -- Latitude WGS-84 (rad)
- getStartLon
```
public double getStartLon()
```
  Returns:
  
  Start Point -- WGS-84 Longitude (rad) - fp64_t
- setStartLon
```
public DesiredPath setStartLon(double start_lon)
```
  Parameters:
  
  start_lon - Start Point -- WGS-84 Longitude (rad)
- getStartZ
```
public double getStartZ()
```
  Returns:
  
  Start Point -- Z Reference (m) - fp32_t
- setStartZ
```
public DesiredPath setStartZ(double start_z)
```
  Parameters:
  
  start_z - Start Point -- Z Reference (m)
- getStartZUnits
```
public DesiredPath.START_Z_UNITS getStartZUnits()
```
  Returns:
  
  Start Point -- Z Units (enumerated) - uint8_t
- getStartZUnitsStr
```
public java.lang.String getStartZUnitsStr()
```
- getStartZUnitsVal
```
public short getStartZUnitsVal()
```
- setStartZUnits
```
public DesiredPath setStartZUnits(DesiredPath.START_Z_UNITS start_z_units)
```
  Parameters:
  
  start_z_units - Start Point -- Z Units (enumerated)
- setStartZUnitsStr
```
public DesiredPath setStartZUnitsStr(java.lang.String start_z_units)
```
  Parameters:
  
  start_z_units - Start Point -- Z Units (as a String)
- setStartZUnitsVal
```
public DesiredPath setStartZUnitsVal(short start_z_units)
```
  Parameters:
  
  start_z_units - Start Point -- Z Units (integer value)
- getEndLat
```
public double getEndLat()
```
  Returns:
  
  End Point -- WGS84 Latitude (rad) - fp64_t
- setEndLat
```
public DesiredPath setEndLat(double end_lat)
```
  Parameters:
  
  end_lat - End Point -- WGS84 Latitude (rad)
- getEndLon
```
public double getEndLon()
```
  Returns:
  
  End Point -- WGS-84 Longitude (rad) - fp64_t
- setEndLon
```
public DesiredPath setEndLon(double end_lon)
```
  Parameters:
  
  end_lon - End Point -- WGS-84 Longitude (rad)
- getEndZ
```
public double getEndZ()
```
  Returns:
  
  End Point -- Z Reference (m) - fp32_t
- setEndZ
```
public DesiredPath setEndZ(double end_z)
```
  Parameters:
  
  end_z - End Point -- Z Reference (m)
- getEndZUnits
```
public DesiredPath.END_Z_UNITS getEndZUnits()
```
  Returns:
  
  End Point -- Z Units (enumerated) - uint8_t
- getEndZUnitsStr
```
public java.lang.String getEndZUnitsStr()
```
- getEndZUnitsVal
```
public short getEndZUnitsVal()
```
- setEndZUnits
```
public DesiredPath setEndZUnits(DesiredPath.END_Z_UNITS end_z_units)
```
  Parameters:
  
  end_z_units - End Point -- Z Units (enumerated)
- setEndZUnitsStr
```
public DesiredPath setEndZUnitsStr(java.lang.String end_z_units)
```
  Parameters:
  
  end_z_units - End Point -- Z Units (as a String)
- setEndZUnitsVal
```
public DesiredPath setEndZUnitsVal(short end_z_units)
```
  Parameters:
  
  end_z_units - End Point -- Z Units (integer value)
- getSpeed
```
public double getSpeed()
```
  Returns:
  
  Speed - fp32_t
- setSpeed
```
public DesiredPath setSpeed(double speed)
```
  Parameters:
  
  speed - Speed
- getSpeedUnits
```
public DesiredPath.SPEED_UNITS getSpeedUnits()
```
  Returns:
  
  Speed Units (enumerated) - uint8_t
- getSpeedUnitsStr
```
public java.lang.String getSpeedUnitsStr()
```
- getSpeedUnitsVal
```
public short getSpeedUnitsVal()
```
- setSpeedUnits
```
public DesiredPath setSpeedUnits(DesiredPath.SPEED_UNITS speed_units)
```
  Parameters:
  
  speed_units - Speed Units (enumerated)
- setSpeedUnitsStr
```
public DesiredPath setSpeedUnitsStr(java.lang.String speed_units)
```
  Parameters:
  
  speed_units - Speed Units (as a String)
- setSpeedUnitsVal
```
public DesiredPath setSpeedUnitsVal(short speed_units)
```
  Parameters:
  
  speed_units - Speed Units (integer value)
- getLradius
```
public double getLradius()
```
  Returns:
  
  Loiter -- Radius (m) - fp32_t
- setLradius
```
public DesiredPath setLradius(double lradius)
```
  Parameters:
  
  lradius - Loiter -- Radius (m)
- getFlags
```
public short getFlags()
```
  Returns:
  
  Flags (bitfield) - uint8_t
- setFlags
```
public DesiredPath setFlags(short flags)
```
  Parameters:
  
  flags - Flags (bitfield)

Class DesiredPath

Nested Class Summary

Field Summary

Fields inherited from class pt.lsts.imc.IMCMessage

Constructor Summary

Method Summary

Methods inherited from class pt.lsts.imc.IMCMessage

Methods inherited from class java.lang.Object

Field Detail

FL_START

FL_DIRECT

FL_NO_Z

FL_3DTRACK

FL_CCLOCKW

FL_LOITER_CURR

FL_TAKEOFF

FL_LAND

ID_STATIC

Constructor Detail

DesiredPath

DesiredPath

DesiredPath

DesiredPath

Method Detail

create

clone

getPathRef

setPathRef

getStartLat

setStartLat

getStartLon

setStartLon

getStartZ

setStartZ

getStartZUnits

getStartZUnitsStr

getStartZUnitsVal

setStartZUnits

setStartZUnitsStr

setStartZUnitsVal

getEndLat

setEndLat

getEndLon

setEndLon

getEndZ

setEndZ

getEndZUnits

getEndZUnitsStr

getEndZUnitsVal

setEndZUnits

setEndZUnitsStr

setEndZUnitsVal

getSpeed

setSpeed

getSpeedUnits

getSpeedUnitsStr

getSpeedUnitsVal

setSpeedUnits

setSpeedUnitsStr

setSpeedUnitsVal

getLradius

setLradius

getFlags

setFlags