Formation

java.lang.Object
- pt.lsts.imc.IMCMessage
- - pt.lsts.imc.Formation

All Implemented Interfaces:

java.lang.Cloneable, java.lang.Comparable<IMCMessage>, IMessage
```
public class Formation
extends IMCMessage
```
IMC Message Formation (484)
The "Formation" is a controller to execute a maneuver with a team of vehicles.
It defines the:
- Vehicles included in the formation group
- Vehicles relative positions inside the formation
- Reference frame where the relative positions are defined
- Formation shape configuration
- Plan (set of maneuvers) to be followed by the formation center
- Plan contrains (virtual leader speed and bank limits)
- Supervision settings
The formation reference frame may be:
- Earth Fixed: Where the vehicles relative position do not depend on the followed path.
This results in all UAVs following the same path with an offset relative to each other;
- Path Fixed: Where the vehicles relative position depends on the followed path,
changing the inter-vehicle offset direction with the path direction.
- Path Curved: Where the vehicles relative position depends on the followed path,
changing the inter-vehicle offset direction with the path direction and direction
change rate.
An offset in the xx axis results in a distance over the curved path line.
An offset in the yy axis results in an offset of the vehicle path line relative to the
formation center path line.

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class Formation.OP

static class Formation.REFERENCE_FRAME

static class Formation.TYPE

Nested Classes
Modifier and Type	Class and Description
`static class`	`Formation.OP`
`static class`	`Formation.REFERENCE_FRAME`
`static class`	`Formation.TYPE`

Field Summary

Fields
Modifier and Type Field and Description

static int ID_STATIC
- Fields inherited from class pt.lsts.imc.IMCMessage
  DEFAULT_ENTITY_ID, DEFAULT_SYSTEM_ID

Fields
Modifier and Type	Field and Description
`static int`	`ID_STATIC`

Constructor Summary

Constructors
Constructor and Description
`Formation()`
`Formation(IMCDefinition defs)`
`Formation(IMCMessage msg)`
Formation(java.lang.String formation_name, Formation.TYPE type, Formation.OP op, java.lang.String group_name, java.lang.String plan_id, java.lang.String description, Formation.REFERENCE_FRAME reference_frame, java.util.Collection<VehicleFormationParticipant> participants, float leader_bank_lim, float leader_speed_min, float leader_speed_max, float leader_alt_min, float leader_alt_max, float pos_sim_err_lim, float pos_sim_err_wrn, int pos_sim_err_timeout, float converg_max, int converg_timeout, int comms_timeout, float turb_lim, java.lang.String custom)

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`static Formation`	`clone(IMCMessage msg)`
`static Formation`	`create(java.lang.Object... values)`
`int`	`getCommsTimeout()`
`double`	`getConvergMax()`
`int`	`getConvergTimeout()`
`java.util.LinkedHashMap<java.lang.String,java.lang.String>`	`getCustom()`
`java.lang.String`	`getDescription()`
`java.lang.String`	`getFormationName()`
`java.lang.String`	`getGroupName()`
`double`	`getLeaderAltMax()`
`double`	`getLeaderAltMin()`
`double`	`getLeaderBankLim()`
`double`	`getLeaderSpeedMax()`
`double`	`getLeaderSpeedMin()`
`Formation.OP`	`getOp()`
`java.lang.String`	`getOpStr()`
`short`	`getOpVal()`
`java.util.Vector<VehicleFormationParticipant>`	`getParticipants()`
`java.lang.String`	`getPlanId()`
`double`	`getPosSimErrLim()`
`int`	`getPosSimErrTimeout()`
`double`	`getPosSimErrWrn()`
`Formation.REFERENCE_FRAME`	`getReferenceFrame()`
`java.lang.String`	`getReferenceFrameStr()`
`short`	`getReferenceFrameVal()`
`double`	`getTurbLim()`
`Formation.TYPE`	`getType()`
`java.lang.String`	`getTypeStr()`
`short`	`getTypeVal()`
`Formation`	`setCommsTimeout(int comms_timeout)`
`Formation`	`setConvergMax(double converg_max)`
`Formation`	`setConvergTimeout(int converg_timeout)`
`Formation`	`setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)`
`Formation`	`setCustom(java.lang.String custom)`
`Formation`	`setDescription(java.lang.String description)`
`Formation`	`setFormationName(java.lang.String formation_name)`
`Formation`	`setGroupName(java.lang.String group_name)`
`Formation`	`setLeaderAltMax(double leader_alt_max)`
`Formation`	`setLeaderAltMin(double leader_alt_min)`
`Formation`	`setLeaderBankLim(double leader_bank_lim)`
`Formation`	`setLeaderSpeedMax(double leader_speed_max)`
`Formation`	`setLeaderSpeedMin(double leader_speed_min)`
`Formation`	`setOp(Formation.OP op)`
`Formation`	`setOpStr(java.lang.String op)`
`Formation`	`setOpVal(short op)`
`Formation`	`setParticipants(java.util.Collection<VehicleFormationParticipant> participants)`
`Formation`	`setPlanId(java.lang.String plan_id)`
`Formation`	`setPosSimErrLim(double pos_sim_err_lim)`
`Formation`	`setPosSimErrTimeout(int pos_sim_err_timeout)`
`Formation`	`setPosSimErrWrn(double pos_sim_err_wrn)`
`Formation`	`setReferenceFrame(Formation.REFERENCE_FRAME reference_frame)`
`Formation`	`setReferenceFrameStr(java.lang.String reference_frame)`
`Formation`	`setReferenceFrameVal(short reference_frame)`
`Formation`	`setTurbLim(double turb_lim)`
`Formation`	`setType(Formation.TYPE type)`
`Formation`	`setTypeStr(java.lang.String type)`
`Formation`	`setTypeVal(short type)`

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
- ID_STATIC
```
public static final int ID_STATIC
```
  See Also:
  
  Constant Field Values

Constructor Detail

Formation
```
public Formation()
```

Formation
```
public Formation(IMCMessage msg)
```

Formation
```
public Formation(IMCDefinition defs)
```

Formation

public Formation(java.lang.String formation_name,
                 Formation.TYPE type,
                 Formation.OP op,
                 java.lang.String group_name,
                 java.lang.String plan_id,
                 java.lang.String description,
                 Formation.REFERENCE_FRAME reference_frame,
                 java.util.Collection<VehicleFormationParticipant> participants,
                 float leader_bank_lim,
                 float leader_speed_min,
                 float leader_speed_max,
                 float leader_alt_min,
                 float leader_alt_max,
                 float pos_sim_err_lim,
                 float pos_sim_err_wrn,
                 int pos_sim_err_timeout,
                 float converg_max,
                 int converg_timeout,
                 int comms_timeout,
                 float turb_lim,
                 java.lang.String custom)

Method Detail
- create
```
public static Formation create(java.lang.Object... values)
```
- clone
```
public static Formation clone(IMCMessage msg)
                       throws java.lang.Exception
```
  Throws:
  
  java.lang.Exception
- getFormationName
```
public java.lang.String getFormationName()
```
  Returns:
  
  Formation Name - plaintext
- setFormationName
```
public Formation setFormationName(java.lang.String formation_name)
```
  Parameters:
  
  formation_name - Formation Name
- getType
```
public Formation.TYPE getType()
```
  Returns:
  
  Type (enumerated) - uint8_t
- getTypeStr
```
public java.lang.String getTypeStr()
```
- getTypeVal
```
public short getTypeVal()
```
- setType
```
public Formation setType(Formation.TYPE type)
```
  Parameters:
  
  type - Type (enumerated)
- setTypeStr
```
public Formation setTypeStr(java.lang.String type)
```
  Parameters:
  
  type - Type (as a String)
- setTypeVal
```
public Formation setTypeVal(short type)
```
  Parameters:
  
  type - Type (integer value)
- getOp
```
public Formation.OP getOp()
```
  Returns:
  
  Operation (enumerated) - uint8_t
- getOpStr
```
public java.lang.String getOpStr()
```
- getOpVal
```
public short getOpVal()
```
- setOp
```
public Formation setOp(Formation.OP op)
```
  Parameters:
  
  op - Operation (enumerated)
- setOpStr
```
public Formation setOpStr(java.lang.String op)
```
  Parameters:
  
  op - Operation (as a String)
- setOpVal
```
public Formation setOpVal(short op)
```
  Parameters:
  
  op - Operation (integer value)
- getGroupName
```
public java.lang.String getGroupName()
```
  Returns:
  
  Target Group Name - plaintext
- setGroupName
```
public Formation setGroupName(java.lang.String group_name)
```
  Parameters:
  
  group_name - Target Group Name
- getPlanId
```
public java.lang.String getPlanId()
```
  Returns:
  
  Formation Plan ID - plaintext
- setPlanId
```
public Formation setPlanId(java.lang.String plan_id)
```
  Parameters:
  
  plan_id - Formation Plan ID
- getDescription
```
public java.lang.String getDescription()
```
  Returns:
  
  Plan Description - plaintext
- setDescription
```
public Formation setDescription(java.lang.String description)
```
  Parameters:
  
  description - Plan Description
- getReferenceFrame
```
public Formation.REFERENCE_FRAME getReferenceFrame()
```
  Returns:
  
  Formation Reference Frame (enumerated) - uint8_t
- getReferenceFrameStr
```
public java.lang.String getReferenceFrameStr()
```
- getReferenceFrameVal
```
public short getReferenceFrameVal()
```
- setReferenceFrame
```
public Formation setReferenceFrame(Formation.REFERENCE_FRAME reference_frame)
```
  Parameters:
  
  reference_frame - Formation Reference Frame (enumerated)
- setReferenceFrameStr
```
public Formation setReferenceFrameStr(java.lang.String reference_frame)
```
  Parameters:
  
  reference_frame - Formation Reference Frame (as a String)
- setReferenceFrameVal
```
public Formation setReferenceFrameVal(short reference_frame)
```
  Parameters:
  
  reference_frame - Formation Reference Frame (integer value)
- getParticipants
```
public java.util.Vector<VehicleFormationParticipant> getParticipants()
```
  Returns:
  
  Formation Participants - message-list
- setParticipants
```
public Formation setParticipants(java.util.Collection<VehicleFormationParticipant> participants)
```
  Parameters:
  
  participants - Formation Participants
- getLeaderBankLim
```
public double getLeaderBankLim()
```
  Returns:
  
  Formation Leader Bank Limit (rad) - fp32_t
- setLeaderBankLim
```
public Formation setLeaderBankLim(double leader_bank_lim)
```
  Parameters:
  
  leader_bank_lim - Formation Leader Bank Limit (rad)
- getLeaderSpeedMin
```
public double getLeaderSpeedMin()
```
  Returns:
  
  Formation Leader Minimum Speed (m/s) - fp32_t
- setLeaderSpeedMin
```
public Formation setLeaderSpeedMin(double leader_speed_min)
```
  Parameters:
  
  leader_speed_min - Formation Leader Minimum Speed (m/s)
- getLeaderSpeedMax
```
public double getLeaderSpeedMax()
```
  Returns:
  
  Formation Leader Maximum Speed (m/s) - fp32_t
- setLeaderSpeedMax
```
public Formation setLeaderSpeedMax(double leader_speed_max)
```
  Parameters:
  
  leader_speed_max - Formation Leader Maximum Speed (m/s)
- getLeaderAltMin
```
public double getLeaderAltMin()
```
  Returns:
  
  Formation Leader Minimum Altitude (m) - fp32_t
- setLeaderAltMin
```
public Formation setLeaderAltMin(double leader_alt_min)
```
  Parameters:
  
  leader_alt_min - Formation Leader Minimum Altitude (m)
- getLeaderAltMax
```
public double getLeaderAltMax()
```
  Returns:
  
  Formation Leader Maximum Altitude (m) - fp32_t
- setLeaderAltMax
```
public Formation setLeaderAltMax(double leader_alt_max)
```
  Parameters:
  
  leader_alt_max - Formation Leader Maximum Altitude (m)
- getPosSimErrLim
```
public double getPosSimErrLim()
```
  Returns:
  
  Position mismatch limit (m) - fp32_t
- setPosSimErrLim
```
public Formation setPosSimErrLim(double pos_sim_err_lim)
```
  Parameters:
  
  pos_sim_err_lim - Position mismatch limit (m)
- getPosSimErrWrn
```
public double getPosSimErrWrn()
```
  Returns:
  
  Position mismatch threshold (m) - fp32_t
- setPosSimErrWrn
```
public Formation setPosSimErrWrn(double pos_sim_err_wrn)
```
  Parameters:
  
  pos_sim_err_wrn - Position mismatch threshold (m)
- getPosSimErrTimeout
```
public int getPosSimErrTimeout()
```
  Returns:
  
  Position mismatch time-out (s) - uint16_t
- setPosSimErrTimeout
```
public Formation setPosSimErrTimeout(int pos_sim_err_timeout)
```
  Parameters:
  
  pos_sim_err_timeout - Position mismatch time-out (s)
- getConvergMax
```
public double getConvergMax()
```
  Returns:
  
  Convergence threshold (m) - fp32_t
- setConvergMax
```
public Formation setConvergMax(double converg_max)
```
  Parameters:
  
  converg_max - Convergence threshold (m)
- getConvergTimeout
```
public int getConvergTimeout()
```
  Returns:
  
  Convergence time-out (s) - uint16_t
- setConvergTimeout
```
public Formation setConvergTimeout(int converg_timeout)
```
  Parameters:
  
  converg_timeout - Convergence time-out (s)
- getCommsTimeout
```
public int getCommsTimeout()
```
  Returns:
  
  Communications time-out (s) - uint16_t
- setCommsTimeout
```
public Formation setCommsTimeout(int comms_timeout)
```
  Parameters:
  
  comms_timeout - Communications time-out (s)
- getTurbLim
```
public double getTurbLim()
```
  Returns:
  
  Turbulence limit (m/s) - fp32_t
- setTurbLim
```
public Formation setTurbLim(double turb_lim)
```
  Parameters:
  
  turb_lim - Turbulence limit (m/s)
- getCustom
```
public java.util.LinkedHashMap<java.lang.String,java.lang.String> getCustom()
```
  Returns:
  
  Custom settings for maneuver (tuplelist) - plaintext
- setCustom
```
public Formation setCustom(java.util.LinkedHashMap<java.lang.String,?> custom)
```
  Parameters:
  
  custom - Custom settings for maneuver (tuplelist)
- setCustom
```
public Formation setCustom(java.lang.String custom)
```

Class Formation

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

ID_STATIC

Constructor Detail

Formation

Formation

Formation

Formation

Method Detail

create

clone

getFormationName

setFormationName

getType

getTypeStr

getTypeVal

setType

setTypeStr

setTypeVal

getOp

getOpStr

getOpVal

setOp

setOpStr

setOpVal

getGroupName

setGroupName

getPlanId

setPlanId

getDescription

setDescription

getReferenceFrame

getReferenceFrameStr

getReferenceFrameVal

setReferenceFrame

setReferenceFrameStr

setReferenceFrameVal

getParticipants

setParticipants

getLeaderBankLim

setLeaderBankLim

getLeaderSpeedMin

setLeaderSpeedMin

getLeaderSpeedMax

setLeaderSpeedMax

getLeaderAltMin

setLeaderAltMin

getLeaderAltMax

setLeaderAltMax

getPosSimErrLim

setPosSimErrLim

getPosSimErrWrn

setPosSimErrWrn

getPosSimErrTimeout

setPosSimErrTimeout

getConvergMax

setConvergMax

getConvergTimeout

setConvergTimeout

getCommsTimeout

setCommsTimeout

getTurbLim

setTurbLim

getCustom

setCustom

setCustom